[Design] Add design doc for actions recording and replay

docs/design/rosbag2_record_replay_action.md

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+# Rosbag2 record and replay action
+
+## Context
+
+This design describes how to implement this feature based on current architecture and how to extend current command parameter.
+
+## How to record action message
+
+The implementation of the action uses three services and two topics. For the services, when service introspection is enabled, rosbag2 can record service data through the service event topic (refer to [rosbag2_record_replay_service.md](./rosbag2_record_replay_service.md)). So all data related to the action can be recorded.
+
+
+## Which topics should be focused on for an action
+
+- goal service
+
+  [NameSpace/]ActionName/_action/send_goal  (Service Event Topic: [NameSpace/]ActionName/_action/send_goal/_service_event)
+
+- result service
+
+  [NameSpace/]ActionName/_action/get_result  (Service Event Topic: [NameSpace/]ActionName/_action/get_result/_service_event)
+
+- cancel service
+
+  [NameSpace/]ActionName/_action/cancel_goal  (Service Event Topic: [NameSpace/]ActionName/_action/cancel_goal/_service_event)
+
+- status topic
+
+  [NameSpace/]ActionName/_action/status
+
+- feedback topic
+
+  [NameSpace/]ActionName/_action/feedback
+
+For an action, five related topics will be recorded.
+
+### Expand the 'record' command
+
+Newly added arguments:
+
+| Argument Name | Description |
+| :-- | :-- |
+| --actions ActionName [ActionName ...] | Space-delimited list of actions to record. |
+| --all-actions | Record all actions via service event topics and hidden action topics. |
+| --exclude-actions ActionName [ActionName ...] | Space-delimited list of actions not being recorded. Works on top of --all, --all-actions, --actions  or --regex. |
+
+Updated arguments:
+
+| Argument Name | Description |
+| :-- | :-- |
+| -a, --all | Record all topics, services and **actions** (Exclude hidden topic). |
+| -e REGEX, --regex REGEX | Record only topics, services and **actions** containing provided regular expression. Note: --all, --all-topics, --all-services or **--all-actions** will override --regex. |
+| --exclude-regex EXCLUDE_REGEX | Exclude topics, services and actions containing provided regular expression. Works on top of --all, --all-topics, --all-services, **--all-actions**, --topics, --services, **--actions** or --regex. |
+
+### Change output of 'Info' command
+
+Add action part.
+
+Without `-v` or `--verbose` parameter, info command shows as below example.
+```
+    Files:             <bag_name>.mcap
+    Bag size:          39.9 KiB
+    Storage id:        mcap
+    ROS Distro:        rolling
+    Duration:          4.835s
+    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
+    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
+    Messages:          39
+    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
+                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
+                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
+    Service:           1
+    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Event Count: 42 | Serialization Format: cdr
+    Action: 2
+    Action information:
+      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
+        Topic: feedback | Count: 1
+        Topic: status | Count: 10
+        Service: send_goal | Event Count: 20
+        Service: cancel_goal | Event Count: 2
+        Service: get_result | Event Count: 9
+      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
+        Topic: feedback | Count: 2
+        Topic: status | Count: 20
+        Service: send_goal | Event Count: 40
+        Service: cancel_goal | Event Count: 4
+        Service: get_result | Event Count: 9
+```
+
+With `-v` or `--verbose` parameter, info command shows as below example.
+```
+    Files:             <bag_name>.mcap
+    Bag size:          39.9 KiB
+    Storage id:        mcap
+    ROS Distro:        rolling
+    Duration:          4.835s
+    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
+    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
+    Messages:          39
+    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
+                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
+                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
+    Service:           1
+    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Request Count: 20 | Response Count: 22 | Serialization Format: cdr
+    Action: 2
+    Action information:
+      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
+        Topic: feedback | Count: 1
+        Topic: status | Count: 10
+        Service: send_goal | Request Count: 10 | Response Count: 10
+        Service: cancel_goal | Request Count: 1 | Response Count: 1
+        Service: get_result | Request Count: 5 | Response Count: 4
+      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
+        Topic: feedback | Count: 2
+        Topic: status | Count: 20
+        Service: send_goal | Request Count: 20 | Response Count: 20
+        Service: cancel_goal | Request Count: 2 | Response Count: 2
+        Service: get_result | Request Count: 5 | Response Count: 4
+```
+
+### Expand the 'play' command
+
+Newly added arguments:
+
+| Argument Name | Description |
+| :-- | :-- |
+| --actions action [action ...] | Space-delimited list of actions to play. |
+| --exclude-actions action [action ...] | Space-delimited list of actions not to play. |
+| --send-action-goal | Send recorded action goal instead of recorded service events and action internal topics. |
+
+Updated arguments:
+
+| Argument Name | Description |
+| :-- | :-- |
+| -e REGEX, --regex REGEX | Play only topics, services and **actions** matches with regular expression. |
+| -x EXCLUDE_REGEX, --exclude-regex EXCLUDE_REGEX | regular expressions to exclude topics, services  and **actions** from replay. |
+| --service-requests-source {service_introspection,client_introspection} | Determine the source of the service requests to be replayed. This option only makes sense if the "--publish-service-requests" or **"--send-action-goal"** option is set. By default, the service requests replaying from recorded service introspection message. |