Actions are communication methods which are similar to services but with different features
- Can be cancelled anytime
- Provides steady feedback
- Good for long-running tasks Actions are comprised of three parts — Goal, Feedback, Result
- Send goal request
- Acknowledge goal reception
- Send result request
- Receive feedback stream
- Receive result response
ros2 node info <node_name> - Lists nodes. A-Servers and A-Clients are shown in the bottom
ros2 action list - List all actions in ROS graph. -t for listing types too
ros2 action info <action_name> - Get info of action
ros2 interface show <action_type> - Get structure of action type
- First section - Goal structure
- Second section - Result structure
- Third section - Feedback structure
ros2 action send_goal <action_name> <action_type> <values>- Send goal.--feedbackgives continuous feedback