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When you invoke SendGoal in the simple action client, the GoalID and timestamp are autogenerated, and a GoalHandle object for that goal is stored.

This GoalHandle allows the action client to obtain information about the state of this goal, cancel it, etc (internally it is using the GoalID and timestamp, but you don't need to care about it).

When you invoke SendGoal in the simple action client, the GoalID and timestamp are autogenerated, and a GoalHandle object for that goal is stored.

This GoalHandle allows the action client to obtain information about the state of this goal, cancel it, etc (internally it is using the GoalID and timestamp, but you don't need to care about it).

The GoalID is defined in the autogenerated ActionGoal message that wraps the goal message.