diff --git a/rosidl_adapter/CMakeLists.txt b/rosidl_adapter/CMakeLists.txt
index 2bea2759d..33d9e879a 100644
--- a/rosidl_adapter/CMakeLists.txt
+++ b/rosidl_adapter/CMakeLists.txt
@@ -26,4 +26,5 @@ install(
 install(PROGRAMS
   scripts/msg2idl.py
   scripts/srv2idl.py
+  scripts/action2idl.py
   DESTINATION lib/${PROJECT_NAME})
diff --git a/rosidl_adapter/scripts/action2idl.py b/rosidl_adapter/scripts/action2idl.py
new file mode 100644
index 000000000..838564789
--- /dev/null
+++ b/rosidl_adapter/scripts/action2idl.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_adapter.action import convert_action_to_idl
+from rosidl_adapter.cli import convert_files_to_idl
+
+
+if __name__ == '__main__':
+    convert_files_to_idl('.action', convert_action_to_idl)