diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
index 71d8d6593f971ebf182671b9568836e7f22531c7..5cf9870b783a5d2f519132f9a99d3231f4b3b515 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
@@ -28,11 +28,14 @@ public class TestServer extends AbstractNodeMain implements ActionServerListener
     as = new ActionServer<FibonacciActionGoal, FibonacciActionFeedback,
       FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE,
       FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
+
+    as.attachListener(this);
   }
 
   @Override
   public void goalReceived(FibonacciActionGoal goal) {
     System.out.println("Goal received.");
+    as.sendResult(as.newResultMessage());
   }
 
   @Override