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Use ROS2 actions for long-running tasks with feedback and cancellation.

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Action Interface

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When to use an action

Actions are useful when execution takes time and you need progress updates, cancellation, and a final result (for example navigation goals or manipulation routines). For one-shot RPC, use Services; for continuous streams, use Topics.

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Quick commands

ros2 action list
ros2 action list -t
ros2 action info <action_name>

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Send goal examples

ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
  "{pose: {header: {frame_id: map}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}}" \
  --feedback

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Execute a learned manipulation behavior

ros2 action send_goal /behavior/execute brain_messages/action/ExecuteBehavior \
  "{skill_dir: /home/jetson1/innate-os/workspace/custom_skills/pick_socks, behavior_config: \"{}\"}" \
  --feedback

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Execute a skill

ros2 action send_goal /execute_skill brain_messages/action/ExecuteSkill \
  "{skill_type: wave, inputs: \"{}\"}" \
  --feedback

Navigation Stack

Planner/controller details and navigation runtime behavior.

Manipulation Stack

Behavior execution and manipulation runtime details.