diff --git a/example/service/lib/main.dart b/example/service/lib/main.dart
index cd31c30..ec0d154 100644
--- a/example/service/lib/main.dart
+++ b/example/service/lib/main.dart
@@ -38,14 +38,16 @@ class _MyHomePageState extends State<MyHomePage> {
   int msgToPublished = 0;
   @override
   void initState() {
-    ros = Ros(url: 'ws://127.0.0.1:9090');
+    ros = Ros(url: 'ws://192.168.1.149:9090');
     service = Service(
-        name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
+        name: '/add_two_ints', ros: ros, type: "/tutorial_interfaces/AddTwoInts");
 
     super.initState();
     ros.connect();
     Timer(const Duration(seconds: 3), () async {
-      await service.advertise(serviceHandler);
+      // await service.advertise(serviceHandler);
+      var res = await service.call({'a': 1, 'b': 2});
+      print(res);
     });
   }
 
diff --git a/example/service/linux/flutter/generated_plugins.cmake b/example/service/linux/flutter/generated_plugins.cmake
index 51436ae..2e1de87 100644
--- a/example/service/linux/flutter/generated_plugins.cmake
+++ b/example/service/linux/flutter/generated_plugins.cmake
@@ -5,6 +5,9 @@
 list(APPEND FLUTTER_PLUGIN_LIST
 )
 
+list(APPEND FLUTTER_FFI_PLUGIN_LIST
+)
+
 set(PLUGIN_BUNDLED_LIBRARIES)
 
 foreach(plugin ${FLUTTER_PLUGIN_LIST})
@@ -13,3 +16,8 @@ foreach(plugin ${FLUTTER_PLUGIN_LIST})
   list(APPEND PLUGIN_BUNDLED_LIBRARIES $<TARGET_FILE:${plugin}_plugin>)
   list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${plugin}_bundled_libraries})
 endforeach(plugin)
+
+foreach(ffi_plugin ${FLUTTER_FFI_PLUGIN_LIST})
+  add_subdirectory(flutter/ephemeral/.plugin_symlinks/${ffi_plugin}/linux plugins/${ffi_plugin})
+  list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${ffi_plugin}_bundled_libraries})
+endforeach(ffi_plugin)
diff --git a/lib/core/action.dart b/lib/core/action.dart
new file mode 100644
index 0000000..22c5225
--- /dev/null
+++ b/lib/core/action.dart
@@ -0,0 +1,128 @@
+import 'dart:async';
+import 'dart:ffi';
+import 'package:flutter/material.dart';
+
+import 'ros.dart';
+import 'request.dart';
+import 'dart:math';
+
+typedef ActionHandler = void Function(Map<String, dynamic> response);
+typedef UUID = List;
+class GoalHandle {
+  ActionHandler onSendGoal;
+  ActionHandler onFeedback;
+  ActionHandler onResult;
+
+  GoalHandle({
+    required this.onSendGoal,
+    required this.onFeedback,
+    required this.onResult,
+  });
+}
+// 每次发送goal都要构造Action
+class Action {
+  Ros ros;
+  String name;
+  String type;
+  // 每次发送goal时，都会生成唯一一个uuid，不能出现重复，用于后续发送cancel_goal，
+  Map<String, List<num>> uuids = {};
+
+  StreamSubscription? goalListener;
+  StreamSubscription? feedbackListener;
+  StreamSubscription? resultListener;
+
+  StreamSubscription? cancelListener;
+
+  GoalHandle goalHandle;
+
+  Action({
+    required this.name,
+    required this.ros,
+    required this.type,
+    required this.goalHandle,
+  });
+  List<num> generateRandomString(int length) {
+    const characters = 'ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789';
+    Random random = Random();
+    return List.generate(length, (index) {
+      return characters[random.nextInt(characters.length)].codeUnitAt(0);
+    });
+  }
+  void _bindFeedbackAndResult(String callId) {
+    final feedbackLis = ros.stream;
+    feedbackLis.listen((message) {
+      goalHandle.onFeedback(message);
+    });
+
+    final resultReceiver = ros.stream.where((message) => message['op'] == 'action_result' && message['id'] == callId)
+      .map((Map<String, dynamic> message) => message['result'] == null
+            ? message['values']!
+            : message['values']);
+
+    resultListener = resultReceiver.listen((d) {
+      goalHandle.onResult(d);
+      resultListener!.cancel();
+    });
+  }
+
+  String sendGoal(dynamic req) {
+    final callId = ros.requestServiceCaller(name);
+    final completer = Completer<List>();
+    final uuid = generateRandomString(16);
+    var reqObj = Request(
+      op: 'send_action_goal',
+      id: callId,
+      action: req['action'],
+      type: req['type'],
+      args: {
+        "goal_id" : {
+          "uuid": uuid,
+        },
+        "goal": req['args'],
+      },
+    );
+    if (uuids.containsKey(callId)) {
+      uuids[callId] = uuid;
+    } else {
+      uuids.addAll({callId: uuid});
+    }
+    ros.send(reqObj);
+
+    final receiver = ros.stream.where((message) {
+      return message['id'] == callId && message['op'] != 'cancel_goal_response';
+    } );
+    goalListener = receiver.listen((d) {
+      if (d["op"] == "action_result") {
+        goalHandle.onResult(d);
+        goalListener!.cancel();
+      } else if (d["op"] == "action_feedback") {
+        goalHandle.onFeedback(d);
+      } else if (d["op"] == 'send_goal_response') {
+        completer.complete(uuids[callId]);
+        goalHandle.onSendGoal(d);
+      }
+    });
+
+    return callId;
+  }
+
+  Future cancelGoal(dynamic req, String callId, ActionHandler onCancel) {
+    final completer = Completer();
+    var cancelReq = Request(
+      op: 'cancel_action_goal',
+      id: callId,
+      action: req['action'],
+    );
+    print("cancelReq: ${cancelReq.toJson()}");
+    ros.send(cancelReq);
+    final receiver = ros.stream.where(
+      (message) => message['id'] == callId && message['op'] == 'cancel_goal_response'
+    );
+    cancelListener = receiver.listen((d) {
+      onCancel(d);
+      completer.complete();
+      cancelListener!.cancel();
+    });
+    return completer.future;
+  }
+}
\ No newline at end of file
diff --git a/lib/core/core.dart b/lib/core/core.dart
index 2da5340..8c381af 100644
--- a/lib/core/core.dart
+++ b/lib/core/core.dart
@@ -5,3 +5,4 @@ export 'request.dart';
 export 'service.dart';
 export 'topic.dart';
 export 'param.dart';
+export 'action.dart';
\ No newline at end of file
diff --git a/lib/core/request.dart b/lib/core/request.dart
index 1edf316..062f352 100644
--- a/lib/core/request.dart
+++ b/lib/core/request.dart
@@ -16,6 +16,7 @@ class Request {
     this.queueLength,
     this.queueSize,
     this.service,
+    this.action,
     this.args,
     this.values,
     this.result,
@@ -54,6 +55,9 @@ class Request {
   /// Service name operating on.
   String? service;
 
+  /// action name operating on.
+  String? action;
+
   /// Arguments of the request (JSON).
   Map<String, dynamic>? args;
 
@@ -66,10 +70,12 @@ class Request {
   factory Request.fromJson(dynamic jsonData) {
     return Request(
       op: jsonData['op'],
+      // type: jsonData['type'],
       id: jsonData['id'],
       type: jsonData['type'],
       topic: jsonData['topic'],
       msg: jsonData['msg'],
+      action: jsonData['action'],
       latch: jsonData['latch'],
       compression: jsonData['compression'],
       throttleRate: jsonData['throttle_rate'],
@@ -99,6 +105,7 @@ class Request {
       if (queueLength != null) 'queue_length': queueLength,
       if (queueSize != null) 'queue_size': queueSize,
       if (service != null) 'service': service,
+      if (action != null) 'action': action,
       if (args != null) 'args': args,
       if (values != null) 'values': values,
       if (result != null) 'result': result,