action

Action servers and clients (rclcpp::ActionServer<A>, rclcpp::ActionClient<A>).

Action servers and clients (rclcpp::ActionServer<A>, rclcpp::ActionClient<A>).

REP-2010 action protocol with goal accept/reject, periodic feedback, cancel, and final result.

Note

ActionServer and ActionClient currently use a blocking zpico_get path on send_goal and get_result; Phase 77 is migrating them to a non-blocking executor-polled path. See the project CLAUDE.md for status.

See also

service for one-shot RPC (no feedback / cancel)

executor for the executor that drives action callbacks