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I am going to answer myself after a bit of research of what was happening,

Answering @gvdhoorn commentes question the error was the following:

PluginlibFactory: The plugin for class 'custom_ns/GoalTool"' failed to load.  Error: Failed to load library /home/noetic/catkin_ws/devel/lib//libcustom_ns_default_plugin.so.

And I discovered it was caused by a mistake in the CmakeLists.txt file in which I did not used properly the Qt5 directive in order to advertise the compiler that the plugin Tool code contains Qt code. For anyone that come up with this error you should check that in your Cmake file there is the qt5_wrap_cpp with your header/cpp files.

With that line everything compiles and works properly.

Cheers.