when send action goal , gets an error and tried to find action interface in the msg packages

[Cra2yQi]

Description

• Library Version: ros2
• ROS Version: humble
• Platform / OS: MacOs / ubuntu22.04

Steps To Reproduce

when i use roslibjs to send a action goal ，rosbridge-suit gets an error and tried to find action interface in the msg packages.

action(serverName, actionName, argument) {
  const rosAction = new ROSLIB.ActionClient({
    ros: this.ros,
    serverName: serverName,
    actionName: actionName
  })
  const goal = new ROSLIB.Goal({
    actionClient: rosAction,
    goalMessage: argument
  });
  // Print out their output into the terminal.
  goal.on('feedback', function (feedback) {
    console.log('Feedback: ' + feedback.sequence);
  });
  goal.on('result', function (result) {
    console.log('Final Result: ' + result.sequence);
  });

  goal.send()
}

And I tried to use python to send the action, and I got the same error

import roslibpy
import roslibpy.actionlib
import time

def feedback_callback(feedback):
    print('Feedback received: ', feedback['sequence'])

def result_callback(result):
    print('Result received: ', result['sequence'])

def call_fibonacci_action(order):
    client = roslibpy.Ros(host='10.211.55.5', port=9090)
    client.run()

    action_client = roslibpy.actionlib.ActionClient(client, '/fibonacci', 'actionlib_tutorials/Fibonacci')

    goal = roslibpy.actionlib.Goal(action_client, roslibpy.Message({'order': order}))

    goal.on('feedback', feedback_callback)
    goal.on('result', result_callback)

    print('Sending goal...')
    goal.send()

    # 等待结果
    while not goal.is_finished:
        time.sleep(1)

    print('Goal processing done.')
    client.terminate()

if __name__ == '__main__':
    call_fibonacci_action(5)

[sea-bass]

ROS 2 action support was added recently to rosbridge_suite in #886. and is only implemented in roslibjs, not roslibpy yet.

The APIs you are using are the ones that work in ROS 1, where indeed the .msg namespace is searched to publish to the action's hidden topics.

[sea-bass]

Oh, the roslibjs example that does work in ROS 2 is here: https://github.com/RobotWebTools/roslibjs/blob/develop/examples/ros2_action_client.html

[sea-bass]

I've also created the underlying issue for roslibpy here: RobotWebTools/roslibpy#122

So will go ahead and close this one, if that's okay.