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The overview page for the beginner tutorials states:

Currently, the beginner level tutorials target Eloquent. Certain features may not be available for older distributions.

The ros2 node info command listing actions is one of those. It is only available as of Eloquent.

Regarding the immediate update of the background color when setting the parameter: that feature is available in turtlesim in Dashing. You just need to use the latest version which is 1.0.2 in Dashing.

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