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Hello, actions should be usable in Galactic in Arduino but you will need to rebuild the library in order to adjust the number of entities required: Action server will need and an Action client will need 2 subscriptions and 3 service clients and Action server will need 3 service servers.

In any case, in Galactic you will need to use the RCL API, meanwhile, in Rolling (and in future releases) you have a new RCLC API, take a look here.

Regarding the C++ examples, they are not applicable. The micro-ROS API is RCLC and it's C99. In fact those examples has been deprecated.

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