Qiita https://qiita.com/porizou1/items/cb9382bb2955c144d168 参考 https://daily-tech.hatenablog.com/entry/2017/02/11/214336 https://docs.ros.org/en/foxy/Tutorials/Understanding-ROS2-Actions.html https://github.com/fmrico/nav2_test_utils