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Thank you, Lebowski and David. I modified the code as you guys suggested and solved the error.

goal_m.target_pose.header.frame_id = "/map";
goal_m.target_pose.header.stamp = ros::Time();

goal_m.target_pose.pose.position.x =mCurrentMap.getOriginX() + (((double)goal_x+0.5) * mCurrentMap.getResolution());

goal_m.target_pose.pose.position.y = mCurrentMap.getOriginY() + (((double)goal_y+0.5) * mCurrentMap.getResolution());

goal_m.target_pose.pose.orientation.w= 1.0;