Hi!

I'm trying to understand the writing action tutorial in ROS2 Humble : Writing an action server and client (C++) and there something that so confuse:

1. The #include "rclcpp_action/rclcpp_action.hpp"

When i searched this on google, it show a rclcpp_action: ROS Action Client Library for C++

rclcpp_action provides the canonical C++ API for interacting with ROS Actions. It consists of these main components:

Action Client
    rclcpp_action/client.hpp
    rclcpp_action/create_client.hpp
    rclcpp_action/client_goal_handle.hpp
Action Server
    rclcpp_action/server.hpp
    rclcpp_action/create_server.hpp
    rclcpp_action/server_goal_handle.hpp

My question is: where is the rclcpp_action.hpp ?

2 . The #include "rclcpp_components/register_node_macro.hpp"

I do found the registernodemacro.hpp File Reference

but there is "include dependency graph" that i don't know how to read that. Sorry that i don't have enough points to upload picture yet. Could you tell me how that graph work?

Tks for reading and have a nice day!