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Sweet! I figured it out, thanks to @velveteenrobot in this discussion: A string goal with actionlib

I had to change my .action file to say geometry_msgs/PoseWithCovarianceStamped as follows:

# Define the goal
geometry_msgs/PoseWithCovarianceStamped pose
---
# Define the result
bool succeeded
---
# Define a feedback message
float32 percent_complete

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