Marcelo Onhate has written a very useful ATG REST module based on Jersey which looks to be an improvement over the built-in ATG REST support. It uses annotations and is pretty simple to configure and vend REST services with.
Check it out here: https://github.com/onhate/ATGRESTful
New ATG Rest Module
Jersey-based REST module simplifies ATG REST service configuration with annotations instead of verbose setup.
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