Support ROS 2 Actions

[sea-bass]

Feature Request

As a ROS 2 developer, I want roslibpy to support ROS 2 actions with the new support in the ROSBridge protocol.

Details

In RobotWebTools/rosbridge_suite#886, we merged native ROS 2 action support to rosbridge_suite, and in RobotWebTools/roslibjs#645 we used it in roslibjs.

Creating this issue to track the work to do the same here in roslibpy, as I have already personally heard from 2 people in the past week trying to get this working and running into unexpected error with the current interface that only works for ROS 1 at the moment.

[Fluidmechanik]

Could you tell me which branch of rosbridge suite supports actions and how?

[sea-bass]

Could you tell me which branch of rosbridge suite supports actions and how?

Actions are supported in Humble, Jazzy, and Rolling since the 2.0.0 release. As for how, refer to https://github.com/RobotWebTools/rosbridge_suite/blob/ros2/ROSBRIDGE_PROTOCOL.md

As for this repo, there is a standing PR that works but the maintaners have not been acknowledging for months. But you can use that branch!

#125

[Fluidmechanik]

Thanks for your help! Could you also share me with a PR that helps sending actions when using roslibjs?

[sea-bass]

Thanks for your help! Could you also share me with a PR that helps sending actions when using roslibjs?

https://github.com/RobotWebTools/roslibjs/blob/develop/examples/action_client.html