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You're using the wrong type. The service type is HighLevelGoals, but your goal is of type HighLevelGoalsRequest (and the response type will be HighLevelGoalsResponse). However, the service proxy will actually create the request from your parameters to it, thus the call would be:
send_goal_proxy(goals)
Where goals is of type list(HighLevelGoal). See http://wiki.ros.org/rospy/Overview/Services for more details
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