get_action_names_and_types not exposed in NodeGraph

[hsd-dev]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Client library (if applicable):
  • rclcpp

---

While working on the action_bridge in https://github.com/ros2/ros1_bridge/pull/256, I realized that get_action_names_and_types is not exposed in NodeGraph, even though actions are considered to "first-class citizens". I am not quite sure how is rcl "used" wihtin rclcpp, because the function is part of the rcl_action API.

Is there any reason for this? Are there plans on doing this in the future?

[fujitatomoya]

i think that the followings need to be exposed to rclcpp, (rclpy does have them already)

• rcl_action_get_client_names_and_types_by_node
• rcl_action_get_server_names_and_types_by_node
• rcl_action_get_names_and_types