Currently, the dora-ros2 bridge is limited. Some functions of ros2 are not aligned with Dora.
This issue list the features waiting to be supported.

• Rust API

  • topic pub/sub
  • service server
  • service client
  • action server
  • action client with feedback on Action API and example for dora-ros2-bridge #1194

• C++ API

  • topic pub/sub
  • service server
  • service client
  • action server
  • action client with feedback, on ros action feedback and status support in cxx api of dora #1148, Action API and example for dora-ros2-bridge #1194

• Python API

  • topic pub/sub
  • service client
  • service server
  • action client
  • action server

• others (some of them maybe available with separated nodes)

  • parameter service
  • examples aligned with ROS2's minimal examples

...