Add ROS2 Action client, server, and .action codegen support

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ActionAutoGen.cs

@@ -94,9 +94,13 @@ public static List<string> GenerateSingleAction(string inPath, string outPath, s
                 actionWrapper.WrapActionSections(types[i]);
             }
 
-            // Generate action wrapper
+            // Generate action wrapper (ROS1-style)
             actionWrapper.WrapAction();
 
+            // Generate ROS2 FeedbackMessage class (UUID + Feedback body).
+            // This is needed for Action client feedback routing.
+            actionWrapper.GenerateFeedbackMessage();
+
             return warnings;
         }
 
@@ -364,6 +368,80 @@ public void WrapActionSections(string type)
             }
         }
 
+        /// <summary>
+        /// Generate a ROS2-style FeedbackMessage class that contains
+        /// goal_id (byte[16] UUID) + Feedback body. This is the wire-level
+        /// message type for the /_action/feedback topic. Registers both
+        /// the short name (pkg/Action_FeedbackMessage) and the full
+        /// /action/ path so it works across __subscribe and __topic_list.
+        /// </summary>
+        public void GenerateFeedbackMessage()
+        {
+            string feedbackClassName = inFileName + "Feedback" + MsgAutoGenUtilities.ActionClassSuffix;
+            string className = inFileName + "FeedbackMessage";
+            string resolvedPackage = MsgAutoGenUtilities.ResolvePackageName(rosPackageName);
+            string shortRosName = rosPackageName + "/" + inFileName + "_FeedbackMessage";
+            string altRosName = rosPackageName + "/action/" + inFileName + "_FeedbackMessage";
+
+            string filePath = Path.Combine(this.outPath, className + ".cs");
+
+            using (StreamWriter writer = new StreamWriter(filePath, false))
+            {
+                writer.Write("//Do not edit! This file was generated by Unity-ROS MessageGeneration.\n");
+                writer.Write("using System;\n");
+                writer.Write("using Unity.Robotics.ROSTCPConnector.MessageGeneration;\n\n");
+                writer.Write("namespace RosMessageTypes." + resolvedPackage + "\n{\n");
+                writer.Write(ONE_TAB + "[Serializable]\n");
+                writer.Write(ONE_TAB + "public class " + className + " : Message\n");
+                writer.Write(ONE_TAB + "{\n");
+
+                // ROS message name (dual registration)
+                writer.Write(TWO_TABS + "public const string k_RosMessageName = \"" + shortRosName + "\";\n");
+                writer.Write(TWO_TABS + "public const string k_RosMessageNameAlt = \"" + altRosName + "\";\n");
+                writer.Write(TWO_TABS + "public override string RosMessageName => k_RosMessageName;\n\n");
+
+                // Fields
+                writer.Write(TWO_TABS + "public byte[] goal_id = new byte[16];\n");
+                writer.Write(TWO_TABS + "public " + feedbackClassName + " feedback = new " + feedbackClassName + "();\n\n");
+
+                // Default constructor
+                writer.Write(TWO_TABS + "public " + className + "() { }\n\n");
+
+                // Deserialize
+                writer.Write(TWO_TABS + "public static " + className + " Deserialize(MessageDeserializer deserializer) => new " + className + "(deserializer);\n\n");
+                writer.Write(TWO_TABS + "private " + className + "(MessageDeserializer deserializer)\n");
+                writer.Write(TWO_TABS + "{\n");
+                writer.Write(THREE_TABS + "goal_id = new byte[16];\n");
+                writer.Write(THREE_TABS + "for (int i = 0; i < 16; i++)\n");
+                writer.Write(THREE_TABS + ONE_TAB + "deserializer.Read(out goal_id[i]);\n");
+                writer.Write(THREE_TABS + "feedback = " + feedbackClassName + ".Deserialize(deserializer);\n");
+                writer.Write(TWO_TABS + "}\n\n");
+
+                // SerializeTo
+                writer.Write(TWO_TABS + "public override void SerializeTo(MessageSerializer serializer)\n");
+                writer.Write(TWO_TABS + "{\n");
+                writer.Write(THREE_TABS + "serializer.Write(goal_id);\n");
+                writer.Write(THREE_TABS + "feedback.SerializeTo(serializer);\n");
+                writer.Write(TWO_TABS + "}\n\n");
+
+                // Register (dual)
+                writer.Write("#if UNITY_EDITOR\n");
+                writer.Write(TWO_TABS + "[UnityEditor.InitializeOnLoadMethod]\n");
+                writer.Write("#else\n");
+                writer.Write(TWO_TABS + "[UnityEngine.RuntimeInitializeOnLoadMethod]\n");
+                writer.Write("#endif\n");
+                writer.Write(TWO_TABS + "public static void Register()\n");
+                writer.Write(TWO_TABS + "{\n");
+                writer.Write(THREE_TABS + "MessageRegistry.Register(k_RosMessageName, Deserialize);\n");
+                writer.Write(THREE_TABS + "MessageRegistry.Register(k_RosMessageNameAlt, Deserialize);\n");
+                writer.Write(TWO_TABS + "}\n");
+
+                // Close class + namespace
+                writer.Write(ONE_TAB + "}\n");
+                writer.Write("}\n");
+            }
+        }
+
         public void WrapAction()
         {
             string msgNamePrefix = inFileName + MsgAutoGenUtilities.ActionClassSuffix;

com.unity.robotics.ros-tcp-connector/Runtime/Messages/ActionTutorialsInterfaces/action/FibonacciFeedback.cs

@@ -0,0 +1,47 @@
+using System;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ActionTutorialsInterfaces
+{
+    [Serializable]
+    public class FibonacciFeedback : Message
+    {
+        public const string k_RosMessageName = "action_tutorials_interfaces/Fibonacci_Feedback";
+        public override string RosMessageName => k_RosMessageName;
+
+        public int[] partial_sequence;
+
+        public FibonacciFeedback()
+        {
+            this.partial_sequence = new int[0];
+        }
+
+        public FibonacciFeedback(int[] partial_sequence)
+        {
+            this.partial_sequence = partial_sequence;
+        }
+
+        public static FibonacciFeedback Deserialize(MessageDeserializer deserializer) => new FibonacciFeedback(deserializer);
+
+        private FibonacciFeedback(MessageDeserializer deserializer)
+        {
+            deserializer.Read(out this.partial_sequence, sizeof(int), deserializer.ReadLength());
+        }
+
+        public override void SerializeTo(MessageSerializer serializer)
+        {
+            serializer.WriteLength(this.partial_sequence);
+            serializer.Write(this.partial_sequence);
+        }
+
+#if UNITY_EDITOR
+        [UnityEditor.InitializeOnLoadMethod]
+#else
+        [UnityEngine.RuntimeInitializeOnLoadMethod]
+#endif
+        public static void Register()
+        {
+            MessageRegistry.Register(k_RosMessageName, Deserialize);
+        }
+    }
+}

com.unity.robotics.ros-tcp-connector/Runtime/Messages/ActionTutorialsInterfaces/action/FibonacciFeedbackMessage.cs

@@ -0,0 +1,55 @@
+using System;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ActionTutorialsInterfaces
+{
+    /// <summary>
+    /// The wire-level FeedbackMessage for Fibonacci actions.
+    /// Layout: unique_identifier_msgs/UUID goal_id + Fibonacci_Feedback feedback.
+    /// </summary>
+    [Serializable]
+    public class FibonacciFeedbackMessage : Message
+    {
+        public const string k_RosMessageName = "action_tutorials_interfaces/Fibonacci_FeedbackMessage";
+        // The endpoint may also report this type with /action/ in the path
+        // when it refreshes the topic list from the ROS2 graph.
+        public const string k_RosMessageNameAlt = "action_tutorials_interfaces/action/Fibonacci_FeedbackMessage";
+        public override string RosMessageName => k_RosMessageName;
+
+        public byte[] goal_id = new byte[16];
+        public FibonacciFeedback feedback = new FibonacciFeedback();
+
+        public FibonacciFeedbackMessage() { }
+
+        public static FibonacciFeedbackMessage Deserialize(MessageDeserializer deserializer)
+            => new FibonacciFeedbackMessage(deserializer);
+
+        private FibonacciFeedbackMessage(MessageDeserializer deserializer)
+        {
+            // UUID is uint8[16] — 16 raw bytes, no length prefix.
+            goal_id = new byte[16];
+            for (int i = 0; i < 16; i++)
+                deserializer.Read(out goal_id[i]);
+
+            // Feedback body follows inline.
+            feedback = FibonacciFeedback.Deserialize(deserializer);
+        }
+
+        public override void SerializeTo(MessageSerializer serializer)
+        {
+            serializer.Write(goal_id);
+            feedback.SerializeTo(serializer);
+        }
+
+#if UNITY_EDITOR
+        [UnityEditor.InitializeOnLoadMethod]
+#else
+        [UnityEngine.RuntimeInitializeOnLoadMethod]
+#endif
+        public static void Register()
+        {
+            MessageRegistry.Register(k_RosMessageName, Deserialize);
+            MessageRegistry.Register(k_RosMessageNameAlt, Deserialize);
+        }
+    }
+}

com.unity.robotics.ros-tcp-connector/Runtime/Messages/ActionTutorialsInterfaces/action/FibonacciGoal.cs

@@ -0,0 +1,46 @@
+using System;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ActionTutorialsInterfaces
+{
+    [Serializable]
+    public class FibonacciGoal : Message
+    {
+        public const string k_RosMessageName = "action_tutorials_interfaces/Fibonacci_Goal";
+        public override string RosMessageName => k_RosMessageName;
+
+        public int order;
+
+        public FibonacciGoal()
+        {
+            this.order = 0;
+        }
+
+        public FibonacciGoal(int order)
+        {
+            this.order = order;
+        }
+
+        public static FibonacciGoal Deserialize(MessageDeserializer deserializer) => new FibonacciGoal(deserializer);
+
+        private FibonacciGoal(MessageDeserializer deserializer)
+        {
+            deserializer.Read(out this.order);
+        }
+
+        public override void SerializeTo(MessageSerializer serializer)
+        {
+            serializer.Write(this.order);
+        }
+
+#if UNITY_EDITOR
+        [UnityEditor.InitializeOnLoadMethod]
+#else
+        [UnityEngine.RuntimeInitializeOnLoadMethod]
+#endif
+        public static void Register()
+        {
+            MessageRegistry.Register(k_RosMessageName, Deserialize);
+        }
+    }
+}

com.unity.robotics.ros-tcp-connector/Runtime/Messages/ActionTutorialsInterfaces/action/FibonacciResult.cs

@@ -0,0 +1,47 @@
+using System;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ActionTutorialsInterfaces
+{
+    [Serializable]
+    public class FibonacciResult : Message
+    {
+        public const string k_RosMessageName = "action_tutorials_interfaces/Fibonacci_Result";
+        public override string RosMessageName => k_RosMessageName;
+
+        public int[] sequence;
+
+        public FibonacciResult()
+        {
+            this.sequence = new int[0];
+        }
+
+        public FibonacciResult(int[] sequence)
+        {
+            this.sequence = sequence;
+        }
+
+        public static FibonacciResult Deserialize(MessageDeserializer deserializer) => new FibonacciResult(deserializer);
+
+        private FibonacciResult(MessageDeserializer deserializer)
+        {
+            deserializer.Read(out this.sequence, sizeof(int), deserializer.ReadLength());
+        }
+
+        public override void SerializeTo(MessageSerializer serializer)
+        {
+            serializer.WriteLength(this.sequence);
+            serializer.Write(this.sequence);
+        }
+
+#if UNITY_EDITOR
+        [UnityEditor.InitializeOnLoadMethod]
+#else
+        [UnityEngine.RuntimeInitializeOnLoadMethod]
+#endif
+        public static void Register()
+        {
+            MessageRegistry.Register(k_RosMessageName, Deserialize);
+        }
+    }
+}