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Actions are a form of asynchronous communication in ROS. Action clients send goal requests to action servers. Action servers send goal feedback and results to action clients. For more detailed information about ROS actions, please refer to the design article.

This document contains a list of tutorials related to actions. For reference, after completing all of the tutorials you should expect to have a ROS package that looks like the package action_tutorials.


  • Install ROS (Dashing or later)

  • Install colcon

  • Setup a workspace and create a package named action_tutorials:

    Remember to source your ROS 2 installation.

    Linux / OSX:

    mkdir -p action_ws/src
    cd action_ws/src
    ros2 pkg create action_tutorials


    mkdir -p action_ws\src
    cd action_ws\src
    ros2 pkg create action_tutorials