Add Action graph API (#411)

* Add action graph API

Builds on top of the rcl graph API.
A list of action names associated with action clients can be constructed by
looking for subscriber topic names that have the suffix "/_action/feedback".
Likewise, action servers are associated with publisher topic names with the same suffix.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Enable multiple rmw action graph API tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use ament_target_dependencies for osrf_testing_tools_cpp

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix lint errors

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Refactor

* Move graph API common implementation to local function
* Refactor tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Disable graph tests with OpenSplice

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Include graph.h in rcl_action.h

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Remove duplicate test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Prefix increment operators

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Rename 'suffix' -> 'identifier'

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add missing finalize calls and remove redundant branch

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Finalize names and types struct on error

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix bugs in tests

Pass valid names and types struct and update expected error code.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add zero allocator tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix indentation

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Check if action identifiers are the suffix

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rcl_action/CMakeLists.txt

@@ -36,6 +36,7 @@ set(rcl_action_sources
   src/${PROJECT_NAME}/action_server.c
   src/${PROJECT_NAME}/goal_handle.c
   src/${PROJECT_NAME}/goal_state_machine.c
+  src/${PROJECT_NAME}/graph.c
   src/${PROJECT_NAME}/names.c
   src/${PROJECT_NAME}/types.c
 )
@@ -91,7 +92,11 @@ if(BUILD_TESTING)
     target_link_libraries(test_action_client
       ${PROJECT_NAME}
     )
-    ament_target_dependencies(test_action_client "osrf_testing_tools_cpp" "rcl" "test_msgs")
+    ament_target_dependencies(test_action_client
+      "osrf_testing_tools_cpp"
+      "rcl"
+      "test_msgs"
+    )
   endif()
 
   # get the rmw implementations ahead of time
@@ -122,6 +127,7 @@ if(BUILD_TESTING)
         ${PROJECT_NAME}
       )
       ament_target_dependencies(${target}${target_suffix}
+        "osrf_testing_tools_cpp"
         "rcl"
         "test_msgs"
       )
@@ -146,6 +152,13 @@ if(BUILD_TESTING)
       "test/rcl_action/test_action_communication.cpp")
     custom_test_c(test_action_interaction
       "test/rcl_action/test_action_interaction.cpp")
+
+    # TODO(jacobperron): Graph tests fail with opensplice. Re-enable after resolving
+    # https://github.com/ros2/ros2/issues/677
+    if(NOT rmw_implementation STREQUAL "rmw_opensplice_cpp")
+      custom_test_c(test_graph
+        "test/rcl_action/test_graph.cpp")
+    endif()
   endmacro()
 
   call_for_each_rmw_implementation(targets)

rcl_action/include/rcl_action/graph.h

@@ -0,0 +1,162 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCL_ACTION__GRAPH_H_
+#define RCL_ACTION__GRAPH_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/graph.h"
+#include "rcl/node.h"
+
+#include "rcl_action/visibility_control.h"
+
+/// Get a list of action names and types for action clients associated with a node.
+/**
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[in] node_name the node name of the actions to return
+ * \param[in] node_namespace the node namespace of the actions to return
+ * \param[out] action_names_and_types list of action names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_client_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * action_names_and_types);
+
+/// Get a list of action names and types for action servers associated with a node.
+/**
+ * This function returns a list of action names and types for action servers associated with
+ * the provided node name.
+ *
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[in] node_name the node name of the actions to return
+ * \param[in] node_namespace the node namespace of the actions to return
+ * \param[out] action_names_and_types list of action names and their types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_server_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * action_names_and_types);
+
+/// Return a list of action names and their types.
+/**
+ * This function returns a list of action names and types in the ROS graph.
+ *
+ * The `node` parameter must point to a valid node.
+ *
+ * The `action_names_and_types` parameter must be allocated and zero initialized.
+ * This function allocates memory for the returned list of names and types and so it is the
+ * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini()
+ * when it is no longer needed.
+ * Failing to do so will result in leaked memory.
+ *
+ * The returned names are not automatically remapped by this function.
+ * Attempting to create action clients or action servers with names returned by this function may
+ * not result in the desired action name depending on the remap rules in use.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] allocator allocator for allocating space for strings
+ * \param[out] action_names_and_types list of action names and types
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_get_names_and_types(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  rcl_names_and_types_t * action_names_and_types);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL_ACTION__GRAPH_H_

rcl_action/include/rcl_action/rcl_action.h

@@ -52,6 +52,7 @@ extern "C"
 #include "rcl_action/default_qos.h"
 #include "rcl_action/goal_handle.h"
 #include "rcl_action/goal_state_machine.h"
+#include "rcl_action/graph.h"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"
 

rcl_action/src/rcl_action/graph.c

@@ -0,0 +1,221 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <assert.h>
+#include <string.h>
+
+#include "rcl/error_handling.h"
+#include "rcl/graph.h"
+#include "rcl/node.h"
+#include "rcutils/strdup.h"
+
+#include "rcl_action/graph.h"
+
+static
+rcl_ret_t
+_filter_action_names(
+  rcl_names_and_types_t * topic_names_and_types,
+  rcl_allocator_t * allocator,
+  rcl_names_and_types_t * action_names_and_types)
+{
+  assert(topic_names_and_types);
+  assert(allocator);
+  assert(action_names_and_types);
+
+  // Assumption: actions provide a topic name with the suffix "/_action/feedback"
+  // and it has type with the suffix "_FeedbackMessage"
+  const char * action_name_identifier = "/_action/feedback";
+  const char * action_type_identifier = "_FeedbackMessage";
+
+  rcl_ret_t ret;
+  const size_t num_names = topic_names_and_types->names.size;
+  char ** names = topic_names_and_types->names.data;
+
+  // Count number of actions to determine how much memory to allocate
+  size_t num_actions = 0u;
+  for (size_t i = 0u; i < num_names; ++i) {
+    const char * identifier_index = strstr(names[i], action_name_identifier);
+    if (identifier_index && strlen(identifier_index) == strlen(action_name_identifier)) {
+      ++num_actions;
+    }
+  }
+
+  if (0u == num_actions) {
+    return RCL_RET_OK;
+  }
+
+  ret = rcl_names_and_types_init(action_names_and_types, num_actions, allocator);
+  if (RCL_RET_OK != ret) {
+    return ret;
+  }
+
+  ret = RCL_RET_OK;
+
+  // Prune names/types that are not actions (ie. do not contain the suffix)
+  const size_t suffix_len = strlen(action_name_identifier);
+  size_t j = 0u;
+  for (size_t i = 0u; i < num_names; ++i) {
+    const char * identifier_index = strstr(names[i], action_name_identifier);
+    if (identifier_index && strlen(identifier_index) == strlen(action_name_identifier)) {
+      const size_t action_name_len = strlen(names[i]) - suffix_len;
+      char * action_name = rcutils_strndup(names[i], action_name_len, *allocator);
+      if (!action_name) {
+        RCL_SET_ERROR_MSG("Failed to allocate memory for action name");
+        ret = RCL_RET_BAD_ALLOC;
+        break;
+      }
+
+      action_names_and_types->names.data[j] = action_name;
+
+      // Allocate storage for type list
+      rcutils_ret_t rcutils_ret = rcutils_string_array_init(
+        &action_names_and_types->types[j],
+        topic_names_and_types->types[i].size,
+        allocator);
+      if (RCUTILS_RET_OK != rcutils_ret) {
+        RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
+        ret = RCL_RET_BAD_ALLOC;
+        break;
+      }
+
+      // Populate types list
+      for (size_t k = 0u; k < topic_names_and_types->types[i].size; ++k) {
+        char * type_name = topic_names_and_types->types[i].data[k];
+        size_t action_type_len = strlen(type_name);
+        // Trim type name suffix
+        const size_t type_suffix_len = strlen(action_type_identifier);
+        const char * type_identifier_index = strstr(type_name, action_type_identifier);
+        if (type_identifier_index &&
+          strlen(type_identifier_index) == strlen(action_type_identifier))
+        {
+          action_type_len = strlen(type_name) - type_suffix_len;
+        }
+        // Copy name to output struct
+        char * action_type_name = rcutils_strndup(type_name, action_type_len, *allocator);
+        if (!action_type_name) {
+          RCL_SET_ERROR_MSG("Failed to allocate memory for action type");
+          ret = RCL_RET_BAD_ALLOC;
+          break;
+        }
+        action_names_and_types->types[j].data[k] = action_type_name;
+      }
+      ++j;
+    }
+  }
+
+  // Cleanup if there is an error
+  if (RCL_RET_OK != ret) {
+    rcl_ret_t fini_ret = rcl_names_and_types_fini(action_names_and_types);
+    (void)fini_ret;  // Error already set
+  }
+
+  return ret;
+}
+
+rcl_ret_t
+rcl_action_get_client_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * action_names_and_types)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(action_names_and_types, RCL_RET_INVALID_ARGUMENT);
+
+  rcl_ret_t ret;
+  rcl_names_and_types_t topic_names_and_types = rcl_get_zero_initialized_names_and_types();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    node, allocator, false, node_name, node_namespace, &topic_names_and_types);
+  if (RCL_RET_OK != ret) {
+    return ret;
+  }
+
+  ret = _filter_action_names(
+    &topic_names_and_types,
+    allocator,
+    action_names_and_types);
+
+  rcl_ret_t nat_fini_ret = rcl_names_and_types_fini(&topic_names_and_types);
+  if (RCL_RET_OK != nat_fini_ret) {
+    ret = rcl_names_and_types_fini(action_names_and_types);
+    return nat_fini_ret;
+  }
+  return ret;
+}
+
+rcl_ret_t
+rcl_action_get_server_names_and_types_by_node(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_names_and_types_t * action_names_and_types)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(action_names_and_types, RCL_RET_INVALID_ARGUMENT);
+
+  rcl_ret_t ret;
+  rcl_names_and_types_t topic_names_and_types = rcl_get_zero_initialized_names_and_types();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    node, allocator, false, node_name, node_namespace, &topic_names_and_types);
+  if (RCL_RET_OK != ret) {
+    return ret;
+  }
+
+  ret = _filter_action_names(
+    &topic_names_and_types,
+    allocator,
+    action_names_and_types);
+
+  rcl_ret_t nat_fini_ret = rcl_names_and_types_fini(&topic_names_and_types);
+  if (RCL_RET_OK != nat_fini_ret) {
+    ret = rcl_names_and_types_fini(action_names_and_types);
+    return nat_fini_ret;
+  }
+  return ret;
+}
+
+rcl_ret_t
+rcl_action_get_names_and_types(
+  const rcl_node_t * node,
+  rcl_allocator_t * allocator,
+  rcl_names_and_types_t * action_names_and_types)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(action_names_and_types, RCL_RET_INVALID_ARGUMENT);
+  rcl_names_and_types_t topic_names_and_types = rcl_get_zero_initialized_names_and_types();
+  rcl_ret_t ret = rcl_get_topic_names_and_types(node, allocator, false, &topic_names_and_types);
+  if (RCL_RET_OK != ret) {
+    return ret;
+  }
+
+  ret = _filter_action_names(
+    &topic_names_and_types,
+    allocator,
+    action_names_and_types);
+
+  rcl_ret_t nat_fini_ret = rcl_names_and_types_fini(&topic_names_and_types);
+  if (RCL_RET_OK != nat_fini_ret) {
+    ret = rcl_names_and_types_fini(action_names_and_types);
+    return nat_fini_ret;
+  }
+  return ret;
+}
+
+#ifdef __cplusplus
+}
+#endif

rcl_action/test/rcl_action/test_graph.cpp

@@ -0,0 +1,563 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <thread>
+
+#include "rcl_action/action_client.h"
+#include "rcl_action/action_server.h"
+#include "rcl_action/graph.h"
+
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "test_msgs/action/fibonacci.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator;
+  rcl_context_t old_context;
+  rcl_context_t context;
+  rcl_node_t old_node;
+  rcl_node_t node;
+  rcl_node_t zero_node;
+  const char * test_graph_node_name = "test_action_graph_node";
+  const char * test_graph_old_node_name = "test_action_graph_old_node_name";
+
+  void SetUp()
+  {
+    rcl_ret_t ret;
+    this->zero_node = rcl_get_zero_initialized_node();
+    this->zero_allocator = static_cast<rcl_allocator_t>(rcutils_get_zero_initialized_allocator());
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&init_options, this->allocator);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+    });
+    this->old_context = rcl_get_zero_initialized_context();
+    ret = rcl_init(0, nullptr, &init_options, &this->old_context);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    this->old_node = rcl_get_zero_initialized_node();
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+    ret = rcl_node_init(
+      &this->old_node, this->test_graph_old_node_name, "", &this->old_context, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_shutdown(&this->old_context);  // after this, the old_node should be invalid
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    this->context = rcl_get_zero_initialized_context();
+    ret = rcl_init(0, nullptr, &init_options, &this->context);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    this->node = rcl_get_zero_initialized_node();
+    ret = rcl_node_init(&this->node, test_graph_node_name, "", &this->context, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  void TearDown()
+  {
+    rcl_ret_t ret;
+    ret = rcl_node_fini(&this->old_node);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    ret = rcl_node_fini(&this->node);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    ret = rcl_shutdown(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->old_context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+};
+
+TEST_F(
+  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
+  test_action_get_client_names_and_types_by_node)
+{
+  rcl_ret_t ret;
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+
+  // Invalid node
+  ret = rcl_action_get_client_names_and_types_by_node(
+    nullptr, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->zero_node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->old_node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid allocator
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, nullptr, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->zero_allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid node name
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->allocator, "_test_this_Isnot_a_valid_name", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Non-existent node
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_old_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid names and types
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_node_name, "", nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Valid call
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
+TEST_F(
+  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
+  test_action_get_server_names_and_types_by_node)
+{
+  rcl_ret_t ret;
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+
+  // Invalid node
+  ret = rcl_action_get_server_names_and_types_by_node(
+    nullptr, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->zero_node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->old_node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid allocator
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, nullptr, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->zero_allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid node name
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->allocator, "_test_this_Isnot_a_valid_name", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Non-existent node
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_old_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid names and types
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_node_name, "", nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Valid call
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
+TEST_F(
+  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
+  test_action_get_names_and_types)
+{
+  rcl_ret_t ret;
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+
+  // Invalid node
+  ret = rcl_action_get_names_and_types(nullptr, &this->allocator, &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_names_and_types(&this->zero_node, &this->allocator, &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_names_and_types(&this->old_node, &this->allocator, &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid allocator
+  ret = rcl_action_get_names_and_types(&this->node, nullptr, &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_action_get_names_and_types(&this->node, &this->zero_allocator, &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Invalid names and types
+  ret = rcl_action_get_names_and_types(&this->node, &this->allocator, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // Valid call
+  ret = rcl_action_get_names_and_types(&this->node, &this->allocator, &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
+/**
+ * Type define a get actions function.
+ */
+typedef std::function<rcl_ret_t(const rcl_node_t *,
+    rcl_names_and_types_t *)> GetActionsFunc;
+
+/**
+ * Extend the TestActionGraphFixture with a multi-node fixture for node discovery and node-graph
+ * perspective.
+ */
+class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION)
+{
+public:
+  const char * remote_node_name = "remote_graph_node";
+  const char * action_name = "/test_action_info_functions__";
+  rcl_node_t remote_node;
+  rcl_context_t remote_context;
+  GetActionsFunc action_func, clients_by_node_func, servers_by_node_func;
+
+  void SetUp() override
+  {
+    CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::SetUp();
+
+    rcl_ret_t ret;
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) <<
+        rcl_get_error_string().str;
+    });
+
+    this->remote_node = rcl_get_zero_initialized_node();
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+
+    this->remote_context = rcl_get_zero_initialized_context();
+    ret = rcl_init(0, nullptr, &init_options, &this->remote_context);
+
+    ret = rcl_node_init(
+      &this->remote_node, this->remote_node_name, "", &this->remote_context, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    action_func = std::bind(rcl_action_get_names_and_types,
+        std::placeholders::_1,
+        &this->allocator,
+        std::placeholders::_2);
+    clients_by_node_func = std::bind(rcl_action_get_client_names_and_types_by_node,
+        std::placeholders::_1,
+        &this->allocator,
+        this->remote_node_name,
+        "",
+        std::placeholders::_2);
+    servers_by_node_func = std::bind(rcl_action_get_server_names_and_types_by_node,
+        std::placeholders::_1,
+        &this->allocator,
+        this->remote_node_name,
+        "",
+        std::placeholders::_2);
+    WaitForAllNodesAlive();
+  }
+
+  void TearDown() override
+  {
+    CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
+
+    rcl_ret_t ret;
+    ret = rcl_node_fini(&this->remote_node);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    ret = rcl_shutdown(&this->remote_context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->remote_context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  void WaitForAllNodesAlive()
+  {
+    rcl_ret_t ret;
+    rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
+    rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      ret = rcutils_string_array_fini(&node_names);
+      ASSERT_EQ(RCUTILS_RET_OK, ret);
+      ret = rcutils_string_array_fini(&node_namespaces);
+      ASSERT_EQ(RCUTILS_RET_OK, ret);
+    });
+    // Wait for all 3 nodes to be discovered: remote_node, old_node, node
+    size_t attempts = 0u;
+    size_t max_attempts = 4u;
+    while (node_names.size < 3u) {
+      std::this_thread::sleep_for(std::chrono::seconds(1));
+      ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
+      ++attempts;
+      ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
+    }
+  }
+
+  void WaitForActionCount(
+    GetActionsFunc func,
+    size_t expected_count,
+    std::chrono::milliseconds duration)
+  {
+    auto start_time = std::chrono::system_clock::now();
+    auto curr_time = start_time;
+
+    rcl_ret_t ret;
+    while ((curr_time - start_time) < duration) {
+      rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+      ret = func(&this->node, &nat);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      size_t action_count = nat.names.size;
+      ret = rcl_names_and_types_fini(&nat);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      if (action_count == expected_count) {
+        return;
+      }
+      std::this_thread::sleep_for(std::chrono::milliseconds(200));
+      curr_time = std::chrono::system_clock::now();
+    }
+  }
+};
+
+// Note, this test could be affected by other communication on the same ROS domain
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
+  rcl_ret_t ret;
+  // Create an action client
+  rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+  const rosidl_action_type_support_t * action_typesupport =
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  const char * client_action_name = "/test_action_get_names_and_types_client_action_name";
+  rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
+  ret = rcl_action_client_init(
+    &action_client,
+    &this->remote_node,
+    action_typesupport,
+    client_action_name,
+    &action_client_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+
+  WaitForActionCount(action_func, 1u, std::chrono::seconds(1));
+
+  // Check that there is exactly one action name
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  ret = action_func(&this->node, &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 1u);
+  EXPECT_STREQ(nat.names.data[0], client_action_name);
+  ASSERT_EQ(nat.types[0].size, 1u);
+  EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Create an action server
+  rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
+  rcl_clock_t clock;
+  ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
+  });
+  const char * server_action_name = "/test_action_get_names_and_types_server_action_name";
+  rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
+  ret = rcl_action_server_init(
+    &action_server,
+    &this->remote_node,
+    &clock,
+    action_typesupport,
+    server_action_name,
+    &action_server_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+
+  WaitForActionCount(action_func, 2u, std::chrono::seconds(1));
+
+  ret = action_func(&this->node, &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 2u);
+  EXPECT_STREQ(nat.names.data[0], client_action_name);
+  EXPECT_STREQ(nat.names.data[1], server_action_name);
+  ASSERT_EQ(nat.types[0].size, 1u);
+  EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
+  ASSERT_EQ(nat.types[1].size, 1u);
+  EXPECT_STREQ(nat.types[1].data[0], "test_msgs/Fibonacci");
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
+// Note, this test could be affected by other communication on the same ROS domain
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node) {
+  rcl_ret_t ret;
+  // Create an action client
+  rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+  const rosidl_action_type_support_t * action_typesupport =
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
+  ret = rcl_action_client_init(
+    &action_client,
+    &this->remote_node,
+    action_typesupport,
+    this->action_name,
+    &action_client_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+  // Check that there are no action servers
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  ret = rcl_action_get_server_names_and_types_by_node(
+    &this->node, &this->allocator, this->remote_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 0u);
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Create an action server
+  rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
+  rcl_clock_t clock;
+  ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
+  });
+  rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
+  ret = rcl_action_server_init(
+    &action_server,
+    &this->remote_node,
+    &clock,
+    action_typesupport,
+    this->action_name,
+    &action_server_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+
+  WaitForActionCount(servers_by_node_func, 1u, std::chrono::seconds(1));
+  ret = servers_by_node_func(&this->node, &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 1u);
+  EXPECT_STREQ(nat.names.data[0], this->action_name);
+  ASSERT_EQ(nat.types[0].size, 1u);
+  EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
+// Note, this test could be affected by other communication on the same ROS domain
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node) {
+  rcl_ret_t ret;
+  const rosidl_action_type_support_t * action_typesupport =
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  // Create an action server
+  rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
+  rcl_clock_t clock;
+  ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
+  });
+  rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
+  ret = rcl_action_server_init(
+    &action_server,
+    &this->remote_node,
+    &clock,
+    action_typesupport,
+    this->action_name,
+    &action_server_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+
+  // Check that there are no action clients
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  ret = rcl_action_get_client_names_and_types_by_node(
+    &this->node, &this->allocator, this->remote_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 0u);
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Create an action client
+  rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+  rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
+  ret = rcl_action_client_init(
+    &action_client,
+    &this->remote_node,
+    action_typesupport,
+    this->action_name,
+    &action_client_options);
+  ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
+      rcl_get_error_string().str;
+  });
+
+  WaitForActionCount(clients_by_node_func, 1u, std::chrono::seconds(1));
+  ret = clients_by_node_func(&this->node, &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_EQ(nat.names.size, 1u);
+  EXPECT_STREQ(nat.names.data[0], this->action_name);
+  ASSERT_EQ(nat.types[0].size, 1u);
+  EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
+
+  ret = rcl_names_and_types_fini(&nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}