diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
index bb74ad77..ff76ff09 100644
--- a/rosidl_generator_rs/resource/action.rs.em
+++ b/rosidl_generator_rs/resource/action.rs.em
@@ -1,8 +1,36 @@
+@{
+action_msg_specs = []
+
+for subfolder, action in action_specs:
+    action_msg_specs.append((subfolder, action.goal))
+    action_msg_specs.append((subfolder, action.result))
+    action_msg_specs.append((subfolder, action.feedback))
+    action_msg_specs.append((subfolder, action.feedback_message))
+
+action_srv_specs = []
+
+for subfolder, action in action_specs:
+    action_srv_specs.append((subfolder, action.send_goal_service))
+    action_srv_specs.append((subfolder, action.get_result_service))
+}@
+
+pub mod rmw {
+@{
+TEMPLATE(
+    'msg_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=action_msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+}  // mod rmw
+
 @{
 TEMPLATE(
     'msg_idiomatic.rs.em',
     package_name=package_name, interface_path=interface_path,
-    msg_specs=msg_specs,
+    msg_specs=action_msg_specs,
     get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
     get_idiomatic_rs_type=get_idiomatic_rs_type,
     constant_value_to_rs=constant_value_to_rs)
diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
index 679fe965..906263dd 100644
--- a/rosidl_generator_rs/rosidl_generator_rs/__init__.py
+++ b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
@@ -29,6 +29,7 @@
 from rosidl_parser.definition import AbstractSequence
 from rosidl_parser.definition import AbstractString
 from rosidl_parser.definition import AbstractWString
+from rosidl_parser.definition import Action
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BASIC_TYPES
 from rosidl_parser.definition import BasicType
@@ -93,6 +94,10 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'],
     }
 
+    mapping_actions = {
+        os.path.join(template_dir, 'action.rs.em'): ['rust/src/%s.rs'],
+    }
+
     # Ensure the required templates exist
     for template_file in mapping_msgs.keys():
         assert os.path.exists(template_file), \
@@ -100,6 +105,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
     for template_file in mapping_srvs.keys():
         assert os.path.exists(template_file), \
             'Services template file %s not found' % template_file
+    for template_file in mapping_actions.keys():
+        assert os.path.exists(template_file), \
+            'Actions template file %s not found' % template_file
 
     data = {
         'get_rmw_rs_type': make_get_rmw_rs_type(args['package_name']),
@@ -113,6 +121,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         convert_lower_case_underscore_to_camel_case,
         'msg_specs': [],
         'srv_specs': [],
+        'action_specs': [],
         'package_name': args['package_name'],
         'typesupport_impls': typesupport_impls,
         'interface_path': idl_rel_path,
@@ -127,6 +136,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
     for service in idl_content.get_elements_of_type(Service):
         data['srv_specs'].append(('srv', service))
 
+    for action in idl_content.get_elements_of_type(Action):
+        data['action_specs'].append(('action', action))
+
     if data['msg_specs']:
         for template_file, generated_filenames in mapping_msgs.items():
             for generated_filename in generated_filenames:
@@ -149,6 +161,17 @@ def generate_rs(generator_arguments_file, typesupport_impls):
                     generated_file,
                     minimum_timestamp=latest_target_timestamp)
 
+    if data['action_specs']:
+        for template_file, generated_filenames in mapping_actions.items():
+            for generated_filename in generated_filenames:
+                generated_file = os.path.join(args['output_dir'],
+                                              generated_filename % 'action')
+                expand_template(
+                    os.path.join(template_dir, template_file),
+                    data.copy(),
+                    generated_file,
+                    minimum_timestamp=latest_target_timestamp)
+
     expand_template(
         os.path.join(template_dir, 'lib.rs.em'),
         data.copy(),