Hi, I try to do my first action server: FollowJointTRajectory, So i did new package (rosactionserver). Next, i copied from: http://docs.ros.org/electric/api/control_msgs/html/action/FollowJointTrajectory.html action file,

 # The joint trajectory to follow
trajectory_msgs/JointTrajectory trajectory

# Tolerances for the trajectory.  If the measured joint values fall
# outside the tolerances the trajectory goal is aborted.  Any
# tolerances that are not specified (by being omitted or set to 0) are
# set to the defaults for the action server (often taken from the
# parameter server).

# Tolerances applied to the joints as the trajectory is executed.  If
# violated, the goal aborts with error_code set to
# PATH_TOLERANCE_VIOLATED.
JointTolerance[] path_tolerance

# To report success, the joints must be within goal_tolerance of the
# final trajectory value.  The goal must be achieved by time the
# trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
# allows some leeway in time, so that the trajectory goal can still
# succeed even if the joints reach the goal some time after the
# precise end time of the trajectory).
#
# If the joints are not within goal_tolerance after "trajectory finish
# time" + goal_time_tolerance, the goal aborts with error_code set to
# GOAL_TOLERANCE_VIOLATED
JointTolerance[] goal_tolerance
duration goal_time_tolerance

---
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3
int32 PATH_TOLERANCE_VIOLATED = -4
int32 GOAL_TOLERANCE_VIOLATED = -5

# Human readable description of the error code. Contains complementary
# information that is especially useful when execution fails, for instance:
# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
#   trajectory is in the past).
# - INVALID_JOINTS: The mismatch between the expected controller joints
#   and those provided in the goal.
# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
#   violated which tolerance, and by how much.
string error_string

---
Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error

Next i found fullactionserver.cpp:

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <trajectory_msgs/JointTrajectory.h>

class RobotTrajectoryFollower
{
protected:

  ros::NodeHandle nh_;
  // NodeHandle instance must be created before this line. Otherwise strange error may occur.
  actionlib::SimpleActionServer<ros_action_server::FollowJointTrajectoryAction> as_; 
  std::string action_name_;

public:

  RobotTrajectoryFollower(std::string name) :
    as_(nh_, name, false),
    action_name_(name)
  {
    //Register callback functions:
    as_.registerGoalCallback(boost::bind(&RobotTrajectoryFollower::goalCB, this));
    as_.registerPreemptCallback(boost::bind(&RobotTrajectoryFollower::preemptCB, this));

    as_.start();
  }

  ~RobotTrajectoryFollower(void)//Destructor
  {
  }

  void goalCB()
  {
    // accept the new goal
    //goal_ = as_.acceptNewGoal()->samples;
  }

  void preemptCB()
  {
    ROS_INFO("%s: Preempted", action_name_.c_str());
    // set the action state to preempted
    as_.setPreempted();
  }
};


int main(int argc, char** argv)
{
  ros::init(argc, argv, "action_server");

  RobotTrajectoryFollower RobotTrajectoryFollower("/full_ctrl/joint_trajectory_action");
  ros::spin();

  return 0;

}

With this tutorial, i modified CmakeList.txt:

cmake_minimum_required(VERSION 2.8.3)
project(ros_action_server)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  actionlib
  actionlib_msgs
  message_generation
  roscpp
  std_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)



## Declare ROS messages, services and actions ##
################################################



## Generate messages in the 'msg' folder
add_message_files(DIRECTORY msg FILES
  GripperCommand.msg
  JointControllerState.msg
  JointJog.msg
  JointTolerance.msg
  JointTrajectoryControllerState.msg
  PidState.msg
  FollowJointTrajectoryAction.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
 add_action_files(
  FILES
  FollowJointTrajectory.action
#   Action2.action
)

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   actionlib_msgs std_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ros_action_server
#  CATKIN_DEPENDS actionlib actionlib_msgs message_generation roscpp std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/ros_action_server.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
 add_executable(full_action_server src/full_action_server.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
 add_dependencies(full_action_server ${ros_action_server_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(full_action_server
   ${catkin_LIBRARIES}
 )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )



## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )



#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_action_server.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

next, i tried to compile and i got error:

CMake Error at /home/pawel/catkin_ws/build/ros_action_server/cmake/ros_action_server-genmsg.cmake:3 (message):
  Could not find messages which
  '/home/pawel/catkin_ws/src/ros_action_server/msg/JointTrajectoryControllerState.msg'
  depends on.  Did you forget to specify generate_messages(DEPENDENCIES ...)?

  Cannot locate message [JointTrajectoryPoint]: unknown package
  [trajectory_msgs] on search path [{{'ros_action_server':
  ['/home/pawel/catkin_ws/src/ros_action_server/msg',
  '/home/pawel/catkin_ws/devel/share/ros_action_server/msg'],
  'actionlib_msgs': ['/opt/ros/melodic/share/actionlib_msgs/cmake/../msg'],
  'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg']}}]
Call Stack (most recent call first):
  /opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
  ros_action_server/CMakeLists.txt:77 (generate_messages)


-- Configuring incomplete, errors occurred!
See also "/home/pawel/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/pawel/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:4464: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1

I tried to change those files but nothing hapened. I would be gratefout for Your help, Pawel

<build_depend>actionlib</build_depend>
<exec_depend>actionlib</exec_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib_msgs</exec_depend>

<exec_depend>message_generation</exec_depend>