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For a typical application, you can just increment up 1 the goal ID, or even just leave it as 0. It's only important if you're trying to track multiple goals through the action server. For a typical navigation application where you have 1 goal at a time or have some knowledge of the state outside of move base (which it looks like you do) this is unnecssary. Its primarily for book keeping.

You can remap the arguments into the MoveBaseGoal object and then the actionlib_msgs/GoalID just fill in the header and increment the goal_ID by 1 for completion sake.