diff --git a/rclcpp_action/include/rclcpp_action/create_server.hpp b/rclcpp_action/include/rclcpp_action/create_server.hpp
index 9775b5a3e3..914c0965cd 100644
--- a/rclcpp_action/include/rclcpp_action/create_server.hpp
+++ b/rclcpp_action/include/rclcpp_action/create_server.hpp
@@ -52,5 +52,19 @@ create_server(
   node->get_node_waitables_interface()->add_waitable(action_server, nullptr);
   return action_server;
 }
+
+template<typename ACTION>
+typename Server<ACTION>::SharedPtr
+create_server(
+  rclcpp::Node::SharedPtr node,
+  const std::string & name,
+  typename Server<ACTION>::GoalCallback handle_goal,
+  typename Server<ACTION>::CancelCallback handle_cancel,
+  typename Server<ACTION>::ExecuteCallback handle_execute,
+  const rcl_action_server_options_t & options = rcl_action_server_get_default_options())
+{
+  return create_server<ACTION>(
+    node.get(), name, handle_goal, handle_cancel, handle_execute, options);
+}
 }  // namespace rclcpp_action
 #endif  // RCLCPP_ACTION__CREATE_SERVER_HPP_
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 52e4328d07..00cf38bd40 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -109,7 +109,7 @@ class ServerBase : public rclcpp::Waitable
   RCLCPP_ACTION_PUBLIC
   virtual
   std::pair<GoalResponse, std::shared_ptr<void>>
-  call_handle_goal_callback(rcl_action_goal_info_t &, std::shared_ptr<void> request) = 0;
+  call_handle_goal_callback(std::array<uint8_t, 16> &, std::shared_ptr<void> request) = 0;
 
   // ServerBase will determine which goal ids are being cancelled, and then call this function for
   // each goal id.
@@ -213,7 +213,7 @@ class Server : public ServerBase
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Server)
 
   using GoalCallback = std::function<GoalResponse(
-        rcl_action_goal_info_t &, std::shared_ptr<typename ACTION::Goal>)>;
+        std::array<uint8_t, 16>&, std::shared_ptr<typename ACTION::Goal>)>;
   using CancelCallback = std::function<CancelResponse(std::shared_ptr<ServerGoalHandle<ACTION>>)>;
   using ExecuteCallback = std::function<void (std::shared_ptr<ServerGoalHandle<ACTION>>)>;
 
@@ -244,14 +244,14 @@ class Server : public ServerBase
 
 protected:
   std::pair<GoalResponse, std::shared_ptr<void>>
-  call_handle_goal_callback(rcl_action_goal_info_t & info, std::shared_ptr<void> message) override
+  call_handle_goal_callback(std::array<uint8_t, 16> & uuid, std::shared_ptr<void> message) override
   {
     // TODO(sloretz) update and remove assert when IDL pipeline allows nesting user's type
     static_assert(
       std::is_same<typename ACTION::Goal, typename ACTION::GoalRequestService::Request>::value,
       "Assuming user fields were merged with goal request fields");
     GoalResponse user_response = handle_goal_(
-      info, std::static_pointer_cast<typename ACTION::Goal>(message));
+      uuid, std::static_pointer_cast<typename ACTION::Goal>(message));
 
     auto ros_response = std::make_shared<typename ACTION::GoalRequestService::Response>();
     ros_response->accepted = GoalResponse::ACCEPT == user_response;
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
index 2cc9ca038b..8b352cba30 100644
--- a/rclcpp_action/src/server.cpp
+++ b/rclcpp_action/src/server.cpp
@@ -208,7 +208,7 @@ ServerBase::execute_goal_request_received()
   }
 
   // Call user's callback, getting the user's response and a ros message to send back
-  auto response_pair = call_handle_goal_callback(goal_info, message);
+  auto response_pair = call_handle_goal_callback(uuid, message);
 
   ret = rcl_action_send_goal_response(
     pimpl_->action_server_.get(),
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index d77943f87e..08c4410c48 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -78,7 +78,7 @@ TEST_F(TestServer, construction_and_destruction)
 
   using GoalHandle = rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>;
   auto as = rclcpp_action::create_server<test_msgs::action::Fibonacci>(node.get(), "fibonacci",
-      [](rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>) {
+      [](std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>) {
         return rclcpp_action::GoalResponse::REJECT;
       },
       [](std::shared_ptr<GoalHandle>) {
@@ -91,12 +91,12 @@ TEST_F(TestServer, construction_and_destruction)
 TEST_F(TestServer, handle_goal_called)
 {
   auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");
-  rcl_action_goal_info_t received_info;
+  std::array<uint8_t, 16> received_uuid;
 
-  auto handle_goal = [&received_info](
-    rcl_action_goal_info_t & info, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+  auto handle_goal = [&received_uuid](
+    std::array<uint8_t, 16> & uuid, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
-      received_info = info;
+      received_uuid = uuid;
       return rclcpp_action::GoalResponse::REJECT;
     };
 
@@ -127,9 +127,7 @@ TEST_F(TestServer, handle_goal_called)
     rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, future));
 
-  for (size_t i = 0; i < 16; ++i) {
-    EXPECT_EQ(uuid[i], received_info.uuid[i]) << "at idx " << i;
-  }
+  ASSERT_EQ(uuid, received_uuid);
 }
 
 TEST_F(TestServer, handle_execute_called)
@@ -138,7 +136,7 @@ TEST_F(TestServer, handle_execute_called)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -173,7 +171,7 @@ TEST_F(TestServer, handle_cancel_called)
   const std::array<uint8_t, 16> uuid{{10, 20, 30, 40, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -213,7 +211,7 @@ TEST_F(TestServer, publish_status_accepted)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 100, 110, 120, 13, 14, 15, 16}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -274,7 +272,7 @@ TEST_F(TestServer, publish_status_canceling)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 40, 5, 6, 7, 80, 9, 10, 11, 120, 13, 14, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -329,7 +327,7 @@ TEST_F(TestServer, publish_status_canceled)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -386,7 +384,7 @@ TEST_F(TestServer, publish_status_succeeded)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -441,7 +439,7 @@ TEST_F(TestServer, publish_status_aborted)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -496,7 +494,7 @@ TEST_F(TestServer, publish_feedback)
   const std::array<uint8_t, 16> uuid{{1, 20, 30, 4, 5, 6, 70, 8, 9, 1, 11, 120, 13, 14, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };
@@ -553,7 +551,7 @@ TEST_F(TestServer, get_result)
   const std::array<uint8_t, 16> uuid{{1, 2, 3, 4, 5, 6, 7, 80, 90, 10, 11, 12, 13, 14, 15, 160}};
 
   auto handle_goal = [](
-    rcl_action_goal_info_t &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
+    std::array<uint8_t, 16> &, std::shared_ptr<test_msgs::action::Fibonacci::Goal>)
     {
       return rclcpp_action::GoalResponse::ACCEPT;
     };