ROS 2 send_action_goal Operation not Recognized

[TheGuyWithoutH]

Description
After installing rosbridge_server with apt-get, I try to run the example of action client in ROS 2 from roslibjs. The ros client is connected but then when the example code tries to send the action request, the following message appears on the rosbridge-server terminal:

[rosbridge_websocket-1] [INFO] [1719650740.191282598] [rosbridge_websocket]: Calling services in existing thread
[rosbridge_websocket-1] [INFO] [1719650740.192217869] [rosbridge_websocket]: Client connected. 1 clients total.
[rosbridge_websocket-1] [ERROR] [1719650740.192975287] [rosbridge_websocket]: [Client b6ab93b5-4dd4-414e-9655-a7eb2581237d] [id: send_action_goal:/fibonacci:1] Unknown operation: send_action_goal.  Allowed operations: ['call_service', 'advertise', 'unadvertise', 'publish', 'subscribe', 'unsubscribe', 'fragment', 'advertise_service', 'service_response', 'unadvertise_service']

Given the list of allowed operations, it seems that the actions of the rosbridge protocol are not included. How can it be? I checked the Protocol documentation that explicitly talks about send_action_goal, so I am confused.

• Library Version: 1.3.2-1jammy.20240530.094238
• ROS Version: Humble
• Platform / OS: Ubuntu 22.04.4 LTS

Steps To Reproduce

• sudo apt-get install ros-humble-rosbridge-server

• ros2 launch rosbridge_server rosbridge_websocket_launch.xml

• git clone [email protected]:RobotWebTools/roslibjs.git

• npm i

• ros2 run action_tutorials_py fibonacci_action_server

• open the HTML page at roslibjs/examples/ros2_action_client.html

[vcharpenay]

I ran into the same problem but it seems the current release simply doesn't include actions. PR #886 was merged after the the code base was tagged v1.3.2 (Nov 10th last year vs. Sept 7th).

[TheGuyWithoutH]

Okay thanks! I will try installing directly from the repo. It seemed weird that this feature is already mentionned in other documentation without being released yet.

Is there a release date planned?

[sea-bass]

For a bit of background, this project's ROS 2 action support was driven by needing them in roslibjs.

The working plan is that we need some help writing integration tests for ROS 2 in roslibjs (RobotWebTools/roslibjs#746), and once that is clear, we were going to release a version 2 of both these repos.

[TheGuyWithoutH]

Thank you very much!