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Support ROS 2 Actions #122
Description
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.
Activity
Fluidmechanik commentedon Mar 18, 2025
Could you tell me which branch of rosbridge suite supports actions and how?
sea-bass commentedon Mar 18, 2025
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 commentedon Mar 19, 2025
Thanks for your help! Could you also share me with a PR that helps sending actions when using roslibjs?
sea-bass commentedon Mar 19, 2025
https://github.com/RobotWebTools/roslibjs/blob/develop/examples/action_client.html