diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs b/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
index c64f809b..e3ce3677 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
@@ -29,6 +29,12 @@ where
     let mut service_impls = Vec::new();
     let mut service_creation_defs = Vec::new();
     let mut service_creation_impls = Vec::new();
+
+    let mut action_defs = Vec::new();
+    let mut action_impls = Vec::new();
+    let mut action_creation_defs = Vec::new();
+    let mut action_creation_impls = Vec::new();
+
     let mut aliases = Vec::new();
     for package in &packages {
         for message in &package.messages {
@@ -54,6 +60,20 @@ where
             }
         }
 
+        for action in &package.actions {
+            let (def, imp) = action.struct_token_stream(&package.name, create_cxx_bridge);
+            action_defs.push(def);
+            action_impls.push(imp);
+            if create_cxx_bridge {
+                let (action_creation_def, action_creation_impl) =
+                    action.cxx_action_creation_functions(&package.name);
+                let action_creation_def = quote! { #action_creation_def };
+                let action_creation_impl = quote! { #action_creation_impl };
+                action_creation_defs.push(action_creation_def);
+                action_creation_impls.push(action_creation_impl);
+            }
+        }
+
         aliases.push(package.aliases_token_stream());
     }
 
@@ -73,9 +93,11 @@ where
                     fn init_ros2_context() -> Result<Box<Ros2Context>>;
                     fn new_node(self: &Ros2Context, name_space: &str, base_name: &str) -> Result<Box<Ros2Node>>;
                     fn qos_default() -> Ros2QosPolicies;
+                    fn actionqos_default() -> Ros2ActionClientQosPolicies;
 
                     #(#message_topic_defs)*
                     #(#service_creation_defs)*
+                    #(#action_creation_defs)*
                 }
 
                 #[derive(Debug, Clone)]
@@ -89,6 +111,15 @@ where
                     pub keep_last: i32,
                 }
 
+                #[derive(Debug, Clone)]
+                pub struct Ros2ActionClientQosPolicies {
+                    pub goal_service: Ros2QosPolicies,
+                    pub result_service: Ros2QosPolicies,
+                    pub cancel_service: Ros2QosPolicies,
+                    pub feedback_subscription: Ros2QosPolicies,
+                    pub status_subscription: Ros2QosPolicies,
+                }
+
                 /// DDS 2.2.3.4 DURABILITY
                 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord, Hash)]
                 pub enum Ros2Durability {
@@ -150,6 +181,16 @@ where
                     ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)
                 }
 
+                fn actionqos_default() -> ffi::Ros2ActionClientQosPolicies {
+                    ffi::Ros2ActionClientQosPolicies::new(
+                        Some(qos_default()),
+                        Some(qos_default()),
+                        Some(qos_default()),
+                        Some(qos_default()),
+                        Some(qos_default())
+                    )
+                }
+
                 impl ffi::Ros2QosPolicies {
                     pub fn new(
                         durability: Option<ffi::Ros2Durability>,
@@ -229,6 +270,36 @@ where
                         }
                     }
                 }
+
+                impl ffi::Ros2ActionClientQosPolicies {
+                    pub fn new(
+                        goal_service: Option<ffi::Ros2QosPolicies>,
+                        result_service: Option<ffi::Ros2QosPolicies>,
+                        cancel_service: Option<ffi::Ros2QosPolicies>,
+                        feedback_subscription: Option<ffi::Ros2QosPolicies>,
+                        status_subscription: Option<ffi::Ros2QosPolicies>,
+                   ) -> Self {
+                        Self {
+                            goal_service: goal_service.unwrap_or_else(|| ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)),
+                            result_service: result_service.unwrap_or_else(|| ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)),
+                            cancel_service: cancel_service.unwrap_or_else(|| ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)),
+                            feedback_subscription: feedback_subscription.unwrap_or_else(|| ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)),
+                            status_subscription: status_subscription.unwrap_or_else(|| ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)),
+                        }
+                    }
+                }
+
+                impl From<ffi::Ros2ActionClientQosPolicies> for ros2_client::action::ActionClientQosPolicies {
+                    fn from(value: ffi::Ros2ActionClientQosPolicies) -> Self {
+                        ros2_client::action::ActionClientQosPolicies {
+                            goal_service: value.goal_service.into(),
+                            result_service: value.result_service.into(),
+                            cancel_service: value.cancel_service.into(),
+                            feedback_subscription: value.feedback_subscription.into(),
+                            status_subscription: value.status_subscription.into(),
+                        }
+                    }
+                }
             },
         )
     } else {
@@ -253,6 +324,7 @@ where
 
             #(#shared_type_defs)*
             #(#service_defs)*
+            #(#action_defs)*
         }
 
 
@@ -273,9 +345,11 @@ where
         #cxx_bridge_impls
         #(#message_topic_impls)*
         #(#service_creation_impls)*
+        #(#action_creation_impls)*
 
 
         #(#service_impls)*
+        #(#action_impls)*
 
         #(#aliases)*
     }
diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/types/action.rs b/libraries/extensions/ros2-bridge/msg-gen/src/types/action.rs
index 9338abf8..b4b272bf 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/types/action.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/types/action.rs
@@ -1,5 +1,6 @@
 use heck::SnakeCase;
 use quote::{format_ident, quote, ToTokens};
+use syn::Ident;
 
 use super::{primitives::*, Member, Message, Service};
 
@@ -19,6 +20,78 @@ pub struct Action {
 }
 
 impl Action {
+    pub fn struct_token_stream(
+        &self,
+        package_name: &str,
+        gen_cxx_bridge: bool,
+    ) -> (impl ToTokens, impl ToTokens) {
+        let (goal_def, goal_impl) = self.goal.struct_token_stream(package_name, gen_cxx_bridge);
+        let (result_def, result_impl) = self
+            .result
+            .struct_token_stream(package_name, gen_cxx_bridge);
+        let (feedback_def, feedback_impl) = self
+            .feedback
+            .struct_token_stream(package_name, gen_cxx_bridge);
+
+        let def = quote! {
+            #goal_def
+            #result_def
+            #feedback_def
+        };
+
+        let impls = quote! {
+            #goal_impl
+            #result_impl
+            #feedback_impl
+        };
+
+        (def, impls)
+    }
+
+    pub fn alias_token_stream(&self, package_name: &Ident) -> impl ToTokens {
+        let action_type = format_ident!("{}", self.name);
+        let goal_type_raw = format_ident!("{package_name}__{}_Goal", self.name);
+        let result_type_raw = format_ident!("{package_name}__{}_Result", self.name);
+        let feedback_type_raw = format_ident!("{package_name}__{}_Feedback", self.name);
+
+        let goal_type = format_ident!("{}Goal", self.name);
+        let result_type = format_ident!("{}Result", self.name);
+        let feedback_type = format_ident!("{}Feedback", self.name);
+
+        let goal_type_name = goal_type.to_string();
+        let result_type_name = result_type.to_string();
+        let feedback_type_name = feedback_type.to_string();
+
+        quote! {
+            #[allow(non_camel_case_types)]
+            #[derive(std::fmt::Debug)]
+            pub struct #action_type;
+
+            impl crate::ros2_client::ActionTypes for #action_type {
+                type GoalType = #goal_type;
+                type ResultType = #result_type;
+                type FeedbackType = #feedback_type;
+
+                fn goal_type_name(&self) -> &str {
+                    #goal_type_name
+                }
+
+                fn result_type_name(&self) -> &str {
+                    #result_type_name
+                }
+
+                fn feedback_type_name(&self) -> &str {
+                    #feedback_type_name
+                }
+            }
+
+            pub use super::super::ffi::#goal_type_raw as #goal_type;
+            pub use super::super::ffi::#result_type_raw as #result_type;
+            pub use super::super::ffi::#feedback_type_raw as #feedback_type;
+
+        }
+    }
+
     fn send_goal_srv(&self) -> Service {
         let common = format!("{}_SendGoal", self.name);
 
@@ -132,6 +205,195 @@ impl Action {
         }
     }
 
+    pub fn cxx_action_creation_functions(
+        &self,
+        package_name: &str,
+    ) -> (impl ToTokens, impl ToTokens) {
+        let client_name = format_ident!("Actionclient__{package_name}__{}", self.name);
+        let cxx_client_name = format_ident!("Actionclient_{}", self.name);
+        let create_client = format_ident!("new_ActionClient__{package_name}__{}", self.name);
+        let cxx_create_client = format!("create_action_client_{package_name}_{}", self.name);
+
+        let package = format_ident!("{package_name}");
+        let self_name = format_ident!("{}", self.name);
+        let self_name_str = &self.name;
+
+        let send_goal = format_ident!("send_goal__{package_name}__{}", self.name);
+        let cxx_send_goal = format!("send_goal");
+
+        let matches = format_ident!("matches__{package_name}__{}", self.name);
+        let cxx_matches = format_ident!("matches");
+        let downcast = format_ident!("action_downcast__{package_name}__{}", self.name);
+        let cxx_downcast = format_ident!("downcast");
+
+        let goal_type_raw = format_ident!("{package_name}__{}_Goal", self.name);
+        let result_type_raw = format_ident!("{package_name}__{}_Result", self.name);
+
+        let result_type_raw_str = result_type_raw.to_string();
+
+        let def = quote! {
+            #[namespace = #package_name]
+            #[cxx_name = #cxx_client_name]
+            type #client_name;
+
+            #[cxx_name = #cxx_create_client]
+            fn #create_client(self: &mut Ros2Node, name_space: &str, base_name: &str, qos:Ros2ActionClientQosPolicies, events: &mut CombinedEvents) -> Result<Box<#client_name>>;
+
+            #[namespace = #package_name]
+            #[cxx_name = #cxx_send_goal]
+            fn #send_goal(self: &mut #client_name, request: #goal_type_raw) -> Result<()>;
+
+            #[namespace = #package_name]
+            #[cxx_name = #cxx_matches]
+            fn #matches(self: &mut #client_name, event: &CombinedEvent) -> bool;
+
+            #[namespace = #package_name]
+            #[cxx_name = #cxx_downcast]
+            fn #downcast(self: &mut #client_name, event: CombinedEvent) -> Result<#result_type_raw>;
+        };
+
+        let imp = quote! {
+            impl Ros2Node {
+                #[allow(non_snake_case)]
+                pub fn #create_client(&mut self, name_space: &str, base_name: &str, qos: ffi::Ros2ActionClientQosPolicies, events: &mut crate::ffi::CombinedEvents) -> eyre::Result<Box<#client_name>> {
+                    use futures::StreamExt as _;
+
+                    let client = self.node.create_action_client::< #package :: action :: #self_name >(
+                        ros2_client::ServiceMapping::Enhanced,
+                        &ros2_client::Name::new(name_space, base_name).unwrap(),
+                        &ros2_client::ActionTypeName::new(#package_name, #self_name_str),
+                        qos.into(),
+                    ).map_err(|e| eyre::eyre!("{e:?}"))?;
+                    let (response_tx, response_rx) = flume::bounded(1);
+                    let stream = response_rx.into_stream().map(|v: eyre::Result<_>| Box::new(v) as Box<dyn std::any::Any + 'static>);
+                    let id = events.events.merge(Box::pin(stream));
+
+                    Ok(Box::new(#client_name {
+                        client: std::sync::Arc::new(client),
+                        response_tx: std::sync::Arc::new(response_tx),
+                        executor: self.executor.clone(),
+                        stream_id: id,
+                    }))
+                }
+            }
+
+            #[allow(non_camel_case_types)]
+            pub struct #client_name {
+                client: std::sync::Arc<ros2_client::action::ActionClient< #package :: action :: #self_name>>,
+                response_tx: std::sync::Arc<flume::Sender<eyre::Result<ffi::#result_type_raw>>>,
+                executor: std::sync::Arc<futures::executor::ThreadPool>,
+                stream_id: u32,
+            }
+
+            impl #client_name {
+
+                #[allow(non_snake_case)]
+                fn #send_goal(&mut self, request: ffi::#goal_type_raw) -> eyre::Result<()> {
+                    use eyre::WrapErr;
+                    use futures::task::SpawnExt as _;
+                    use futures::stream::StreamExt;
+                    use futures::executor::block_on;
+                    use std::sync::Arc;
+
+                    let client_arc = Arc::new(self.client.clone());
+
+                    let client_ref = Arc::clone(&client_arc);
+                    let send_goal = async move {
+                        client_ref.async_send_goal(request.clone()).await
+                    };
+
+                    let handle = self.executor.spawn_with_handle(send_goal)
+                        .map_err(|e| eyre::eyre!("{e:?}"))?;
+
+                    let (goal_id, send_goal_response) = block_on(handle)
+                        .map_err(|e| eyre::eyre!("{e:?}"))?;
+
+                    if !send_goal_response.accepted {
+                        return Err(eyre::eyre!("Goal was rejected by the server."));
+                    }
+
+                    let feedback_handle = {
+                        let client_ref = Arc::clone(&client_arc);
+                        async move {
+                            let feedback_stream = client_ref.feedback_stream(goal_id);
+                            feedback_stream.for_each(|feedback| async {
+                                match feedback {
+                                    Ok(feedback) => println!("Received feedback: {:?}", feedback),
+                                    Err(e) => eprintln!("Error while receive feedback: {:?}", e),
+                                }
+                            }).await;
+                        }
+                    };
+
+                    self.executor.spawn(feedback_handle).context("failed to spawn feedback task")?;
+
+
+                    let status_handle = {
+                        let client_ref = Arc::clone(&client_arc);
+                        async move {
+                            let status_stream = client_ref.status_stream(goal_id);
+                            status_stream.for_each(|status| async {
+                                match status {
+                                    Ok(status) => println!("Status update: {:?}", status),
+                                    Err(e) => eprintln!("Error receiving status update: {:?}", e),
+                                }
+                            }).await;
+                        }
+                    };
+
+                    self.executor.spawn(status_handle).context("failed to spawn status task")?;
+
+                    let request_result_handle = {
+                        let client_ref = Arc::clone(&client_arc);
+                        let response_tx = self.response_tx.clone();
+                        async move {
+                            match client_ref.async_request_result(goal_id).await {
+                                Ok((_status, result)) => {
+                                    let response = Ok(result);
+                                    if response_tx.send_async(response).await.is_err() {
+                                        tracing::warn!("failed to send action result");
+                                    }
+                                },
+                                Err(e) => {
+                                    tracing::error!("Failed to receive response for request {goal_id:?}: {:?}", e);
+                                }
+                            }
+                        }
+                    };
+
+                    self.executor.spawn(request_result_handle).context("failed to spawn response task").map_err(|e| eyre::eyre!("{e:?}"))?;
+                    Ok(())
+                }
+
+                #[allow(non_snake_case)]
+                fn #matches(&self, event: &crate::ffi::CombinedEvent) -> bool {
+                    match &event.event.as_ref().0 {
+                        Some(crate::MergedEvent::External(event)) if event.id == self.stream_id => true,
+                        _ => false
+                    }
+                }
+
+                #[allow(non_snake_case)]
+                fn #downcast(&self, event: crate::ffi::CombinedEvent) -> eyre::Result<ffi::#result_type_raw> {
+                    use eyre::WrapErr;
+
+                    match (*event.event).0 {
+                        Some(crate::MergedEvent::External(event)) if event.id == self.stream_id => {
+                            let result = event.event.downcast::<eyre::Result<ffi::#result_type_raw>>()
+                                .map_err(|_| eyre::eyre!("downcast to {} failed", #result_type_raw_str))?;
+
+                            let data = result.with_context(|| format!("failed to receive {} response", #self_name_str))
+                                .map_err(|e| eyre::eyre!("{e:?}"))?;
+                            Ok(data)
+                        },
+                        _ => eyre::bail!("not a {} response event", #self_name_str),
+                    }
+                }
+            }
+        };
+        (def, imp)
+    }
+
     pub fn token_stream_with_mod(&self) -> impl ToTokens {
         let mod_name = format_ident!("_{}", self.name.to_snake_case());
         let inner = self.token_stream();
diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs b/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
index 47f3fa19..2e3fe5b1 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
@@ -98,6 +98,25 @@ impl Package {
         }
     }
 
+    fn action_aliases(&self, package_name: &Ident) -> impl ToTokens {
+        if self.actions.is_empty() {
+            quote! {
+                //empty msg
+            }
+        } else {
+            let items = self
+                .actions
+                .iter()
+                .map(|v| v.alias_token_stream(package_name));
+
+            quote! {
+                pub mod action {
+                    #(#items)*
+                }  // action
+            }
+        }
+    }
+
     fn actions_block(&self) -> impl ToTokens {
         if self.actions.is_empty() {
             quote! {
@@ -117,11 +136,13 @@ impl Package {
         let package_name = Ident::new(&self.name, Span::call_site());
         let aliases = self.message_aliases(&package_name);
         let service_aliases = self.service_aliases(&package_name);
+        let action_aliases = self.action_aliases(&package_name);
 
         quote! {
             pub mod #package_name {
                 #aliases
                 #service_aliases
+                #action_aliases
             }
         }
     }