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This is a bug in actionlib, not in the tutorial you're following.

It looks like this was fixed in https://github.com/ros/actionlib/pull/95 and released, so the fix will likely go out with the next sync of kinetic.

Sync announcements are posted in the general category on ROS Discourse: https://discourse.ros.org/c/general ; keep an eye on that list for the announcement of the next sync.

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