diff --git a/source/Tutorials/Intermediate/Creating-an-Action.rst b/source/Tutorials/Intermediate/Creating-an-Action.rst index 42faa66b49b..4823eca6c22 100644 --- a/source/Tutorials/Intermediate/Creating-an-Action.rst +++ b/source/Tutorials/Intermediate/Creating-an-Action.rst @@ -41,6 +41,14 @@ Tasks 1 Creating an interface package ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Actions can only be created in a package using ``ament_cmake``. +They are not supported in Python packages using ``ament_python``. +This restriction also applies to messages and services, so... + +.. note:: + It is recommended to define action interfaces in their own package. + This improves modularity and makes it easier to reuse them across multiple projects. + .. tabs:: .. group-tab:: Linux @@ -206,9 +214,11 @@ and how to verify a successful build. Next steps ---------- -Next, let's utilize your newly defined action interface by creating an action service and client (in :doc:`Python ` or :doc:`C++ `). +Next, let's utilize your newly defined action interface by creating an action server and client (in :doc:`Python ` or :doc:`C++ `). Related content --------------- -For more detailed information about ROS actions, please refer to the `design article `__. +For more detailed information about ROS actions, please refer to the `design article `__. + +[blank line] \ No newline at end of file