i created an action file in action folder and then i run catkin_make command but there were no corresponding msg files created in msg folder. How are they created? Do i have to make them manually?

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The correct msg files for your action file must be explicitly supplied in order to produce them. They are not automatically populated when catkin_make is called; instead, you must generate separate.msg files in the msg folder of your action to reflect its message structure.

Follow these procedures to produce the MSG files:

Create a MyAction.msg file in the msg folder of your ROS package, open it, and specify its fields so that they match the data types in your action file before saving this.msg file.