I am working on lowest-level missions for Tactical, Science and Engineer Ensigns but playtesting other Foundry missions it appears that only kills give out any skill points.
Which means, that other objectives like healing someone, fixing things etc are either roleplay or simply dead weight. If my impression about that is true, has someone found a workaround yet (other than "you need to repair that door to be able to kill whats inside")?
As with normal STO (not just a foundry thing) COMPLETING missions give rewards as well as KILLS. Completing objectives has no direct link to skill points other than that they allow you to 'complete' the mission.