I am trying to use rosjava to setup an interface to our robots using the Orc programming language, which can import arbitrary rosjava classes (reference).

I can see examples for creating nodes through rosjava, but is it possible to create a arbitrary class that can make service/actionlib calls asynchronously, one that I can import in Orc?

Edit #1

I am using Hydro Beta, should it make a difference.

Thanks! Piyush