diff --git a/docs/message-generation.md b/docs/message-generation.md
new file mode 100644
index 000000000..ea28d57ed
--- /dev/null
+++ b/docs/message-generation.md
@@ -0,0 +1,49 @@
+# `ros2_rust` Message Generation
+
+The `ros2_rust` project strives to maintain consistency with the upstream ROS 2 message generation
+system. To this end, it provides two main packages: `rosidl_generator_rs` and `rosidl_runtime_rs`.
+These packages provide the infrastructure required for defining and using ROS 2 messages, services,
+and actions in Rust.
+
+At a high level, the `rosidl_generator_rs` package handles generation of interface crates from the
+`.msg`, `.srv`, and `.action` files defined by a user. The `rosidl_runtime_rs` package provides
+common functionality shared across message packages, such as support types and traits. Each of these
+packages is described in more detail below.
+
+## `rosidl_generator_rs`
+
+`rosidl_generator_rs` follows a very similar pattern to the other message generation packages for
+ROS 2. To tie into this pipeline, it registers itself as a `"rosidl_generate_idl_interfaces"`
+extension with `ament`. Doing so ensures that message packages calling `rosidl_generate_interfaces`
+will invoke the Rust language generator in addition to any others. This is accomplished using the
+various CMake scripts under the `cmake` directory. When this happens, the input interface files will
+be converted into IDL files which, along with additional metadata, are fed into the `generate_rs`
+function of `rosidl_generator_rs/__init__.py`.
+
+From here, the IDL files are parsed into an internal representation using the upstream
+[`rosidl_parser`](https://github.com/ros2/rosidl/tree/rolling/rosidl_parser) package. This abstract
+representation is then used to instantiate the various template files under the `resource`
+subdirectory, producing a full Rust crate for each package.
+
+For each input message type, two `struct`s are generated:
+
+- An ergonomic representation of the message, using more idiomatic `std` types like `Vec` and
+  `String` for sequence and string fields. These are placed directly in the `msg` submodule of the
+  crate.
+- A FFI-suitable `struct` that is ABI-compatible with the layout expected by the RMW layer. While
+  less ergonomic, these avoid the conversion overhead when passed to RMW. These `struct`s are placed
+  under the `msg::rmw` submodule.
+
+All the produced `struct`s implement the standard traits from `std` when possible, such as `Clone`,
+`PartialEq`, and `Debug`. Additionally, when the generated crate's `serde` feature is enabled, these
+structs implement the `Serialize` and `Deserialize` traits.
+
+## `rosidl_runtime_rs`
+
+`rosidl_runtime_rs` is a runtime support package, providing `Message`, `Service`, and `Action`
+traits that are implemented by the corresponding structs generated by `rosidl_generator_rs`. These
+allow for generic interaction with these various interface types, both in client libraries like
+`rclrs` and in user code.
+
+The package also provides a number of string and sequence types that are ABI-compatible with their
+`rosidl_runtime_c` equivalents. This allows for more ergonomic use of the RMW-native message types.
diff --git a/rosidl_generator_rs/cmake/custom_command.cmake b/rosidl_generator_rs/cmake/custom_command.cmake
index a3f3ff916..d16ccd863 100644
--- a/rosidl_generator_rs/cmake/custom_command.cmake
+++ b/rosidl_generator_rs/cmake/custom_command.cmake
@@ -14,12 +14,10 @@
 
 add_custom_command(
   OUTPUT
-  ${_generated_extension_files}
   ${_generated_common_rs_files}
   ${_generated_msg_rs_files}
-  ${_generated_msg_c_files}
   ${_generated_srv_rs_files}
-  ${_generated_srv_c_files}
+  ${_generated_action_rs_files}
   COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_rs_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   --typesupport-impls "${_typesupport_impls}"
@@ -34,11 +32,9 @@ else()
   add_custom_target(
     ${rosidl_generate_interfaces_TARGET}${_target_suffix} ALL
     DEPENDS
-    ${_generated_extension_files}
     ${_generated_common_rs_files}
     ${_generated_msg_rs_files}
-    ${_generated_msg_c_files}
     ${_generated_srv_rs_files}
-    ${_generated_srv_c_files}
+    ${_generated_action_rs_files}
   )
 endif()
diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
index 9cfdfa579..af4206161 100644
--- a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
+++ b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
@@ -26,9 +26,11 @@ set(_generated_common_rs_files "")
 
 set(_generated_msg_rs_files "")
 set(_generated_srv_rs_files "")
+set(_generated_action_rs_files "")
 
 set(_has_msg FALSE)
 set(_has_srv FALSE)
+set(_has_action FALSE)
 
 foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
@@ -37,13 +39,13 @@ foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
 
   if(_parent_folder STREQUAL "msg")
     set(_has_msg TRUE)
-    set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file})
+    set(_idl_files ${_idl_files} ${_idl_file})
   elseif(_parent_folder STREQUAL "srv")
     set(_has_srv TRUE)
-    set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file})
+    set(_idl_files ${_idl_files} ${_idl_file})
   elseif(_parent_folder STREQUAL "action")
     set(_has_action TRUE)
-    message(WARNING "Rust actions generation is not implemented")
+    set(_idl_files ${_idl_files} ${_idl_file})
   else()
     message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
   endif()
@@ -67,6 +69,12 @@ if(${_has_srv})
   )
 endif()
 
+if(${_has_action})
+  list(APPEND _generated_action_rs_files
+    "${_output_path}/rust/src/action.rs"
+  )
+endif()
+
 set(_dependency_files "")
 set(_dependencies "")
 foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
@@ -81,12 +89,15 @@ endforeach()
 set(target_dependencies
   "${rosidl_generator_rs_BIN}"
   ${rosidl_generator_rs_GENERATOR_FILES}
+  "${rosidl_generator_rs_TEMPLATE_DIR}/action.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em"
+  "${rosidl_generator_rs_TEMPLATE_DIR}/srv_idiomatic.rs.em"
+  "${rosidl_generator_rs_TEMPLATE_DIR}/srv_rmw.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
-  ${_idl_file_without_actions}
+  ${_idl_files}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
   if(NOT EXISTS "${dep}")
@@ -99,7 +110,7 @@ rosidl_write_generator_arguments(
   "${generator_arguments_file}"
   PACKAGE_NAME "${PROJECT_NAME}"
   IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
-  ROS_INTERFACE_FILES "${_idl_file_without_actions}"
+  ROS_INTERFACE_FILES "${_idl_files}"
   ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_rs_TEMPLATE_DIR}"
@@ -130,6 +141,7 @@ set_property(
   ${_generated_common_rs_files}
   ${_generated_msg_rs_files}
   ${_generated_srv_rs_files}
+  ${_generated_action_rs_files}
   PROPERTY GENERATED 1)
 
 set(_rsext_suffix "__rsext")
@@ -144,7 +156,8 @@ endif()
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
   if(
     NOT _generated_msg_rs_files STREQUAL "" OR
-    NOT _generated_srv_rs_files STREQUAL ""
+    NOT _generated_srv_rs_files STREQUAL "" OR
+    NOT _generated_action_rs_files STREQUAL ""
   )
   # TODO(esteve): add linters for Rust files
   endif()
diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
new file mode 100644
index 000000000..5f463f318
--- /dev/null
+++ b/rosidl_generator_rs/resource/action.rs.em
@@ -0,0 +1,205 @@
+@{
+from rosidl_parser.definition import (
+    ACTION_FEEDBACK_MESSAGE_SUFFIX,
+    ACTION_FEEDBACK_SUFFIX,
+    ACTION_GOAL_SERVICE_SUFFIX,
+    ACTION_GOAL_SUFFIX,
+    ACTION_RESULT_SERVICE_SUFFIX,
+    ACTION_RESULT_SUFFIX,
+    SERVICE_REQUEST_MESSAGE_SUFFIX,
+    SERVICE_RESPONSE_MESSAGE_SUFFIX,
+)
+
+action_msg_specs = []
+
+for subfolder, action in action_specs:
+    action_msg_specs.append((subfolder, action.goal))
+    action_msg_specs.append((subfolder, action.result))
+    action_msg_specs.append((subfolder, action.feedback))
+    action_msg_specs.append((subfolder, action.feedback_message))
+
+action_srv_specs = []
+
+for subfolder, action in action_specs:
+    action_srv_specs.append((subfolder, action.send_goal_service))
+    action_srv_specs.append((subfolder, action.get_result_service))
+}@
+
+pub mod rmw {
+@{
+TEMPLATE(
+    'msg_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=action_msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+
+TEMPLATE(
+    'srv_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    srv_specs=action_srv_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+}  // mod rmw
+
+@{
+TEMPLATE(
+    'msg_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=action_msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@{
+TEMPLATE(
+    'srv_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    srv_specs=action_srv_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@[for subfolder, action_spec in action_specs]
+
+@{
+type_name = action_spec.namespaced_type.name
+}@
+
+#[link(name = "@(package_name)__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
+}
+
+// Corresponds to @(package_name)__@(subfolder)__@(type_name)
+pub struct @(type_name);
+
+impl rosidl_runtime_rs::Action for @(type_name) {
+  type Goal = crate::@(subfolder)::@(type_name)@(ACTION_GOAL_SUFFIX);
+  type Result = crate::@(subfolder)::@(type_name)@(ACTION_RESULT_SUFFIX);
+  type Feedback = crate::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_SUFFIX);
+
+  fn get_type_support() -> *const std::ffi::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+  }
+}
+
+impl rosidl_runtime_rs::ActionImpl for @(type_name) {
+  type GoalStatusMessage = action_msgs::msg::rmw::GoalStatusArray;
+  type FeedbackMessage = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX);
+
+  type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX);
+  type CancelGoalService = action_msgs::srv::rmw::CancelGoal;
+  type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX);
+
+  fn create_goal_request(
+    goal_id: &[u8; 16],
+    goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
+  ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+      goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
+      goal,
+    }
+  }
+
+  fn get_goal_request_uuid(
+    request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
+  ) -> &[u8; 16] {
+    &request.goal_id.uuid
+  }
+
+  fn create_goal_response(
+    accepted: bool,
+    stamp: (i32, u32),
+  ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+      accepted,
+      stamp: builtin_interfaces::msg::rmw::Time {
+        sec: stamp.0,
+        nanosec: stamp.1,
+      },
+    }
+  }
+
+  fn get_goal_response_accepted(
+    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
+  ) -> bool {
+    response.accepted
+  }
+
+  fn get_goal_response_stamp(
+    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
+  ) -> (i32, u32) {
+    (response.stamp.sec, response.stamp.nanosec)
+  }
+
+  fn create_feedback_message(
+    goal_id: &[u8; 16],
+    feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
+  ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) {
+    let mut message = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default();
+    message.goal_id.uuid = *goal_id;
+    message.feedback = feedback;
+    message
+  }
+
+  fn get_feedback_message_uuid(
+    feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
+  ) -> &[u8; 16] {
+    &feedback.goal_id.uuid
+  }
+
+  fn get_feedback_message_feedback(
+    feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
+  ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) {
+    &feedback.feedback
+  }
+
+  fn create_result_request(
+    goal_id: &[u8; 16],
+  ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+      goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
+    }
+  }
+
+  fn get_result_request_uuid(
+    request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
+  ) -> &[u8; 16] {
+    &request.goal_id.uuid
+  }
+
+  fn create_result_response(
+    status: i8,
+    result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
+  ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+      status,
+      result,
+    }
+  }
+
+  fn get_result_response_result(
+    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
+  ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) {
+    &response.result
+  }
+
+  fn get_result_response_status(
+    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
+  ) -> i8 {
+    response.status
+  }
+}
+
+@[end for]
diff --git a/rosidl_generator_rs/resource/lib.rs.em b/rosidl_generator_rs/resource/lib.rs.em
index 51e4a5ba4..79a0e1def 100644
--- a/rosidl_generator_rs/resource/lib.rs.em
+++ b/rosidl_generator_rs/resource/lib.rs.em
@@ -7,3 +7,7 @@ pub mod msg;
 @[if len(srv_specs) > 0]@
 pub mod srv;
 @[end if]@
+
+@[if len(action_specs) > 0]@
+pub mod action;
+@[end if]@
diff --git a/rosidl_generator_rs/resource/msg_rmw.rs.em b/rosidl_generator_rs/resource/msg_rmw.rs.em
index c4420a685..fbedd6d5f 100644
--- a/rosidl_generator_rs/resource/msg_rmw.rs.em
+++ b/rosidl_generator_rs/resource/msg_rmw.rs.em
@@ -19,7 +19,7 @@ type_name = msg_spec.structure.namespaced_type.name
 
 #[link(name = "@(package_name)__rosidl_typesupport_c")]
 extern "C" {
-    fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+    fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
 }
 
 #[link(name = "@(package_name)__rosidl_generator_c")]
@@ -103,7 +103,7 @@ impl rosidl_runtime_rs::Message for @(type_name) {
 
 impl rosidl_runtime_rs::RmwMessage for @(type_name) where Self: Sized {
   const TYPE_NAME: &'static str = "@(package_name)/@(subfolder)/@(type_name)";
-  fn get_type_support() -> *const std::os::raw::c_void {
+  fn get_type_support() -> *const std::ffi::c_void {
     // SAFETY: No preconditions for this function.
     unsafe { rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
   }
diff --git a/rosidl_generator_rs/resource/srv.rs.em b/rosidl_generator_rs/resource/srv.rs.em
index 369696ff7..dd99e8e76 100644
--- a/rosidl_generator_rs/resource/srv.rs.em
+++ b/rosidl_generator_rs/resource/srv.rs.em
@@ -1,84 +1,23 @@
-@{
-req_res_specs = []
-
-for subfolder, service in srv_specs:
-    req_res_specs.append((subfolder, service.request_message))
-    req_res_specs.append((subfolder, service.response_message))
-}@
-
 @{
 TEMPLATE(
-    'msg_idiomatic.rs.em',
+    'srv_idiomatic.rs.em',
     package_name=package_name, interface_path=interface_path,
-    msg_specs=req_res_specs,
+    srv_specs=srv_specs,
     get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
     pre_field_serde=pre_field_serde,
     get_idiomatic_rs_type=get_idiomatic_rs_type,
     constant_value_to_rs=constant_value_to_rs)
-}@
-
-@[for subfolder, srv_spec in srv_specs]
-
-@{
-type_name = srv_spec.namespaced_type.name
-}@
-
-#[link(name = "@(package_name)__rosidl_typesupport_c")]
-extern "C" {
-    fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
 }
 
-// Corresponds to @(package_name)__@(subfolder)__@(type_name)
-pub struct @(type_name);
-
-impl rosidl_runtime_rs::Service for @(type_name) {
-  type Request = crate::@(subfolder)::@(type_name)_Request;
-  type Response = crate::@(subfolder)::@(type_name)_Response;
-
-  fn get_type_support() -> *const std::os::raw::c_void {
-    // SAFETY: No preconditions for this function.
-    unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
-  }
-}
-
-@[end for]
-
 pub mod rmw {
 @{
 TEMPLATE(
-    'msg_rmw.rs.em',
+    'srv_rmw.rs.em',
     package_name=package_name, interface_path=interface_path,
-    msg_specs=req_res_specs,
+    srv_specs=srv_specs,
     get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
     pre_field_serde=pre_field_serde,
     get_idiomatic_rs_type=get_idiomatic_rs_type,
     constant_value_to_rs=constant_value_to_rs)
 }@
-
-@[for subfolder, srv_spec in srv_specs]
-
-@{
-type_name = srv_spec.namespaced_type.name
-}@
-
-  #[link(name = "@(package_name)__rosidl_typesupport_c")]
-  extern "C" {
-      fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
-  }
-
-  // Corresponds to @(package_name)__@(subfolder)__@(type_name)
-  pub struct @(type_name);
-
-  impl rosidl_runtime_rs::Service for @(type_name) {
-    type Request = crate::@(subfolder)::rmw::@(type_name)_Request;
-    type Response = crate::@(subfolder)::rmw::@(type_name)_Response;
-
-    fn get_type_support() -> *const std::os::raw::c_void {
-      // SAFETY: No preconditions for this function.
-      unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
-    }
-  }
-
-@[end for]
-
 }  // mod rmw
diff --git a/rosidl_generator_rs/resource/srv_idiomatic.rs.em b/rosidl_generator_rs/resource/srv_idiomatic.rs.em
new file mode 100644
index 000000000..660f1a67c
--- /dev/null
+++ b/rosidl_generator_rs/resource/srv_idiomatic.rs.em
@@ -0,0 +1,44 @@
+@{
+req_res_specs = []
+
+for subfolder, service in srv_specs:
+    req_res_specs.append((subfolder, service.request_message))
+    req_res_specs.append((subfolder, service.response_message))
+}@
+
+@{
+TEMPLATE(
+    'msg_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=req_res_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@[for subfolder, srv_spec in srv_specs]
+
+@{
+type_name = srv_spec.namespaced_type.name
+}@
+
+#[link(name = "@(package_name)__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
+}
+
+// Corresponds to @(package_name)__@(subfolder)__@(type_name)
+pub struct @(type_name);
+
+impl rosidl_runtime_rs::Service for @(type_name) {
+  type Request = crate::@(subfolder)::@(type_name)_Request;
+  type Response = crate::@(subfolder)::@(type_name)_Response;
+
+  fn get_type_support() -> *const std::ffi::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+  }
+}
+
+@[end for]
diff --git a/rosidl_generator_rs/resource/srv_rmw.rs.em b/rosidl_generator_rs/resource/srv_rmw.rs.em
new file mode 100644
index 000000000..6ba55f1f5
--- /dev/null
+++ b/rosidl_generator_rs/resource/srv_rmw.rs.em
@@ -0,0 +1,44 @@
+@{
+req_res_specs = []
+
+for subfolder, service in srv_specs:
+    req_res_specs.append((subfolder, service.request_message))
+    req_res_specs.append((subfolder, service.response_message))
+}@
+
+@{
+TEMPLATE(
+    'msg_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=req_res_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@[for subfolder, srv_spec in srv_specs]
+
+@{
+type_name = srv_spec.namespaced_type.name
+}@
+
+  #[link(name = "@(package_name)__rosidl_typesupport_c")]
+  extern "C" {
+      fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
+  }
+
+  // Corresponds to @(package_name)__@(subfolder)__@(type_name)
+  pub struct @(type_name);
+
+  impl rosidl_runtime_rs::Service for @(type_name) {
+    type Request = crate::@(subfolder)::rmw::@(type_name)_Request;
+    type Response = crate::@(subfolder)::rmw::@(type_name)_Response;
+
+    fn get_type_support() -> *const std::ffi::c_void {
+      // SAFETY: No preconditions for this function.
+      unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+    }
+  }
+
+@[end for]
diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
index 502d1d34d..b7850a6d8 100644
--- a/rosidl_generator_rs/rosidl_generator_rs/__init__.py
+++ b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
@@ -23,6 +23,11 @@
     import rosidl_pycommon
 
 from rosidl_parser.definition import AbstractGenericString
+from rosidl_parser.definition import AbstractNestedType
+from rosidl_parser.definition import AbstractSequence
+from rosidl_parser.definition import AbstractString
+from rosidl_parser.definition import AbstractWString
+from rosidl_parser.definition import Action
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import BoundedSequence
@@ -86,6 +91,10 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'],
     }
 
+    mapping_actions = {
+        os.path.join(template_dir, 'action.rs.em'): ['rust/src/%s.rs'],
+    }
+
     # Ensure the required templates exist
     for template_file in mapping_msgs.keys():
         assert os.path.exists(template_file), \
@@ -93,6 +102,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
     for template_file in mapping_srvs.keys():
         assert os.path.exists(template_file), \
             'Services template file %s not found' % template_file
+    for template_file in mapping_actions.keys():
+        assert os.path.exists(template_file), \
+            'Actions template file %s not found' % template_file
 
     data = {
         'pre_field_serde': pre_field_serde,
@@ -107,6 +119,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         convert_lower_case_underscore_to_camel_case,
         'msg_specs': [],
         'srv_specs': [],
+        'action_specs': [],
         'package_name': args['package_name'],
         'typesupport_impls': typesupport_impls,
         'interface_path': idl_rel_path,
@@ -121,6 +134,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
     for service in idl_content.get_elements_of_type(Service):
         data['srv_specs'].append(('srv', service))
 
+    for action in idl_content.get_elements_of_type(Action):
+        data['action_specs'].append(('action', action))
+
     if data['msg_specs']:
         for template_file, generated_filenames in mapping_msgs.items():
             for generated_filename in generated_filenames:
@@ -143,6 +159,17 @@ def generate_rs(generator_arguments_file, typesupport_impls):
                     generated_file,
                     minimum_timestamp=latest_target_timestamp)
 
+    if data['action_specs']:
+        for template_file, generated_filenames in mapping_actions.items():
+            for generated_filename in generated_filenames:
+                generated_file = os.path.join(args['output_dir'],
+                                              generated_filename % 'action')
+                rosidl_pycommon.expand_template(
+                    os.path.join(template_dir, template_file),
+                    data.copy(),
+                    generated_file,
+                    minimum_timestamp=latest_target_timestamp)
+
     rosidl_pycommon.expand_template(
         os.path.join(template_dir, 'lib.rs.em'),
         data.copy(),
diff --git a/rosidl_runtime_rs/src/lib.rs b/rosidl_runtime_rs/src/lib.rs
index 93f844192..7c5bad461 100644
--- a/rosidl_runtime_rs/src/lib.rs
+++ b/rosidl_runtime_rs/src/lib.rs
@@ -9,4 +9,4 @@ mod string;
 pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString};
 
 mod traits;
-pub use traits::{Message, RmwMessage, SequenceAlloc, Service};
+pub use traits::{Action, ActionImpl, Message, RmwMessage, SequenceAlloc, Service};
diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs
index 15f206108..1e0908544 100644
--- a/rosidl_runtime_rs/src/traits.rs
+++ b/rosidl_runtime_rs/src/traits.rs
@@ -41,7 +41,7 @@ pub trait RmwMessage: Clone + Debug + Default + Send + Sync + Message {
     const TYPE_NAME: &'static str;
 
     /// Get a pointer to the correct `rosidl_message_type_support_t` structure.
-    fn get_type_support() -> *const std::os::raw::c_void;
+    fn get_type_support() -> *const std::ffi::c_void;
 }
 
 /// Trait for types that can be used in a `rclrs::Subscription` and a `rclrs::Publisher`.
@@ -157,5 +157,97 @@ pub trait Service: 'static {
     type Response: Message;
 
     /// Get a pointer to the correct `rosidl_service_type_support_t` structure.
-    fn get_type_support() -> *const std::os::raw::c_void;
+    fn get_type_support() -> *const std::ffi::c_void;
 }
+
+/// Trait for actions.
+///
+/// User code never needs to call this trait's method, much less implement this trait.
+pub trait Action: 'static {
+    /// The goal message associated with this action.
+    type Goal: Message;
+
+    /// The result message associated with this action.
+    type Result: Message;
+
+    /// The feedback message associated with this action.
+    type Feedback: Message;
+
+    /// Get a pointer to the correct `rosidl_action_type_support_t` structure.
+    fn get_type_support() -> *const std::ffi::c_void;
+}
+
+/// Trait for action implementation details.
+///
+/// User code never needs to implement this trait, nor use its associated types.
+pub trait ActionImpl: 'static + Action {
+    /// The goal_status message associated with this action.
+    type GoalStatusMessage: Message;
+
+    /// The feedback message associated with this action.
+    type FeedbackMessage: Message;
+
+    /// The send_goal service associated with this action.
+    type SendGoalService: Service;
+
+    /// The cancel_goal service associated with this action.
+    type CancelGoalService: Service;
+
+    /// The get_result service associated with this action.
+    type GetResultService: Service;
+
+    /// Create a goal request message with the given UUID and goal.
+    fn create_goal_request(goal_id: &[u8; 16], goal: RmwGoalData<Self>) -> RmwGoalRequest<Self>;
+
+    /// Get the UUID of a goal request.
+    fn get_goal_request_uuid(request: &RmwGoalRequest<Self>) -> &[u8; 16];
+
+    /// Create a goal response message with the given acceptance and timestamp.
+    fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> RmwGoalResponse<Self>;
+
+    /// Get the `accepted` field of a goal response.
+    fn get_goal_response_accepted(response: &RmwGoalResponse<Self>) -> bool;
+
+    /// Get the `stamp` field of a goal response.
+    fn get_goal_response_stamp(response: &RmwGoalResponse<Self>) -> (i32, u32);
+
+    /// Create a feedback message with the given goal ID and contents.
+    fn create_feedback_message(
+        goal_id: &[u8; 16],
+        feedback: RmwFeedbackData<Self>,
+    ) -> RmwFeedbackMessage<Self>;
+
+    /// Get the UUID of a feedback message.
+    fn get_feedback_message_uuid(feedback: &RmwFeedbackMessage<Self>) -> &[u8; 16];
+
+    /// Get the feedback of a feedback message.
+    fn get_feedback_message_feedback(feedback: &RmwFeedbackMessage<Self>)
+        -> &RmwFeedbackData<Self>;
+
+    /// Create a result request message with the given goal ID.
+    fn create_result_request(goal_id: &[u8; 16]) -> RmwResultRequest<Self>;
+
+    /// Get the UUID of a result request.
+    fn get_result_request_uuid(request: &RmwResultRequest<Self>) -> &[u8; 16];
+
+    /// Create a result response message with the given status and contents.
+    fn create_result_response(status: i8, result: RmwResultData<Self>) -> RmwResultResponse<Self>;
+
+    /// Get the result of a result response.
+    fn get_result_response_result(response: &RmwResultResponse<Self>) -> &RmwResultData<Self>;
+
+    /// Get the status of a result response.
+    fn get_result_response_status(response: &RmwResultResponse<Self>) -> i8;
+}
+
+// Type definitions to simplify the ActionImpl trait
+pub type RmwServiceRequest<S> = <<S as Service>::Request as Message>::RmwMsg;
+pub type RmwServiceResponse<S> = <<S as Service>::Response as Message>::RmwMsg;
+pub type RmwGoalRequest<A> = RmwServiceRequest<<A as ActionImpl>::SendGoalService>;
+pub type RmwGoalResponse<A> = RmwServiceResponse<<A as ActionImpl>::SendGoalService>;
+pub type RmwGoalData<A> = <<A as Action>::Goal as Message>::RmwMsg;
+pub type RmwFeedbackData<A> = <<A as Action>::Feedback as Message>::RmwMsg;
+pub type RmwFeedbackMessage<A> = <<A as ActionImpl>::FeedbackMessage as Message>::RmwMsg;
+pub type RmwResultRequest<A> = RmwServiceRequest<<A as ActionImpl>::GetResultService>;
+pub type RmwResultResponse<A> = RmwServiceResponse<<A as ActionImpl>::GetResultService>;
+pub type RmwResultData<A> = <<A as Action>::Result as Message>::RmwMsg;