How to use JSTL <c:forEach> with Struts2 <s:url>?

I have this code that actually works:

<s:iterator value="breadcrumb.links" var="link">
    <s:url action='%{#link.url}' var="url" />
    <li>
       <a href="${url}">${link.name}</a>
    </li>
</s:iterator>

How con I do the same thing but with c:foreach instead of s:iterator ?

I tried with:

<c:forEach items="${breadcrumb.links}" var="link">
    <s:url action='${link.url}' var="url" />
    <li>
        <a href="${url}">${link.name}</a>
    </li>
</c:forEach>

but I get the error:

According to TLD or attribute directive in tag file, attribute action does not accept any expressions

Thankyou.