On iOS 8 beta 2 it should be possible to use openUrl from app extension as written into the release notes:

however when I try to use this API (on Xcode 6 beta 2) I get the following error:

Beta 2 really fixed this issue or not?
you may use this code:
[self.extensionContext openURL:url completionHandler:^(BOOL success) {
        NSLog(@"fun=%s after completion. success=%d", __func__, success);
    }];
the API document: openURL:completionHandler:
you could also refer to this question: openURL not work in Action Extension
Accepted solution only works in Today extensions, a working solution in Swift 3.1 (tested in iOS10) for other extension-types:
You need to create your own URL Scheme, then add this function to your ViewController and call it with openURL("myScheme://myIdentifier")
//  Function must be named exactly like this so a selector can be found by the compiler!
//  Anyway - it's another selector in another instance that would be "performed" instead.
func openURL(_ url: URL) -> Bool {
    var responder: UIResponder? = self
    while responder != nil {
        if let application = responder as? UIApplication {
            return application.perform(#selector(openURL(_:)), with: url) != nil
        }
        responder = responder?.next
    }
    return false
}
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