How to remap from geometry_msgs/PoseStamped to move_base_msgs/MoveBaseActionGoal in ROS node

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I am writing a node where I subscribe to the topic /move_base_simple/goal which is of message tip geometry_msgs/PoseStamped and I am wanting to publish this information to the topic /move_base/move/goal which is of message type move_base_msgs/MoveBaseActionGoal. I have the following script to try to do what I have described:

#!/usr/bin/env python

import rospy
import roslib
import actionlib

from std_msgs.msg import String, Empty
from geometry_msgs.msg import PoseStamped
from move_base_msgs.msg import MoveBaseActionGoal



def callback(data):
    rospy.loginfo(rospy.get_caller_id() + 'I HEARD %s', data.pose.position)
    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.pose.orientation)
    pub = rospy.Publisher('move_base/move/goal', MoveBaseActionGoal, queue_size = 10)
    stuff_to_publish = data
    pub.publish(stuff_to_publish)


def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('navgoallistener', anonymous=True)

    rospy.Subscriber('move_base_simple/goal', PoseStamped, callback)

    #message = rospy.Subscriber('move_base_simple/goal', PoseStamped, callback)
    #print message.pose.orientation

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

"""def talker():
    pub = rospy.Publisher('move_base/move/goal', MoveBaseActionGoal, queue_size = 10)
    rospy.init_node('navgoalsetter', anonymous = True)"""


if __name__ == '__main__':
    listener()

However I am having a problem because the messages are of different type. The relevant documentation for the message types can be found here http://docs.ros.org/diamondback/api/g... and here http://docs.ros.org/diamondback/api/m... . Basically I am wondering how to populate the header and goal_id section of the move_base_msgs message.