This week's book giveaway is in the OCMJEA forum. We're giving away four copies of OCM Java EE 6 Enterprise Architect Exam Guide and have Paul Allen & Joseph Bambara on-line! See this thread for details.
Eclipse is a simple IDE - that can be added to, by installing various plug-ins.
There is a eclipse plug-in from JBoss (the JbossIDE). I'm not sure if it provides stuts support. Also the Lomboz plug-in - but again it more J2EE (JSP, EJB) than stuts framework. There exist another, MyEclipse (but I have never used it). It has been previously discussed in javaranch.
If you just want to develop a struts application (for whatever server), just find a suitable plug-in from download site(s).