Add ROS2 Action client and server support

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);
+        }
+    }
+}