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It would be helpful if you describe the way you submit multiple goals to the action server. What do you mean by the program stops once the goal status becomes SUCCEEDED?

According to the SimpleActionClient documentation on sendGoal() -

If a previous goal is already active when this is called. We simply forget about that goal and start tracking the new goal. No cancel requests are made.

I have been using SimpleActionClient to send a sequence of goals one after the other without any issue. All I did was to check for the status of the current goal and once it is done, send another goal

if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    // Then, send the next goal