Actions – When Services Are Not Enough
In this chapter, we will explore the third communication type in ROS 2: actions. To understand actions, you need to have read the previous chapters on nodes, topics, and services.
Before we begin, I want to alert you that this chapter covers more advanced material compared to what we encountered previously and what’s to come.
If you already have some level of expertise, this chapter will satisfy you as it will give you a full overview of all three ROS 2 communication types. However, if you’re just getting started with ROS with zero experience, it might be a bit too much for you right now. This is OK, and topics/services are more than enough to get started with ROS 2. You can skip this chapter (which is independent of future chapters) for now and continue with parameters and launch files. It might be a good idea to come back to it at a later stage after you’ve built more confidence by working on ROS 2 projects...
