RobotWebTools
ROS 2 send_action_goal Operation not Recognized
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
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).
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?
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 (https://github.com/RobotWebTools/roslibjs/issues/746), and once that is clear, we were going to release a version 2 of both these repos.
