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If It update

  rpyPose.pose.pose.orientation.w = (float)0.730246374224;
  start_pub.publish(rpyPose);
  ROS_INFO("SUCCESS!");

to

  rpyPose.pose.pose.orientation.w = (float)0.730246374224;
  goal_pub.publish(rpyPose);  // replace start_pub to goal_pub
  ROS_INFO("SUCCESS!");

, it appears to progress.

The goal_pub is set using advertise, but the start_pub is not yet set.