//from nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
void send_new_goal()
  {
    goal_result_available_ = false;
    auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
    send_goal_options.goal_response_callback =
      [this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr goal_handle) {
        if (!goal_handle) {
          RCLCPP_ERROR(node_->get_logger(), "Goal was rejected by server");
        } else {
          RCLCPP_INFO(node_->get_logger(), "Goal accepted by server, waiting for result");
        }
      };
    send_goal_options.feedback_callback =
      [this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
        const std::shared_ptr<const typename ActionT::Feedback> feedback) {
 
        //TODO: Want to get feedback data in BTaction node

        (void)(feedback);
        // feedback_ptr_ = feedback->get();

      };
    send_goal_options.result_callback =
      [this](const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult & result) {
        if (future_goal_handle_) {
          RCLCPP_DEBUG(
            node_->get_logger(),
            "Goal result for %s available, but it hasn't received the goal response yet. "
            "It's probably a goal result for the last goal request", action_name_.c_str());
          return;
        }

        // TODO(#1652): a work around until rcl_action interface is updated
        // if goal ids are not matched, the older goal call this callback so ignore the result
        // if matched, it must be processed (including aborted)
        if (this->goal_handle_->get_goal_id() == result.goal_id) {
          goal_result_available_ = true;
          result_ = result;
        }
      };

    future_goal_handle_ = std::make_shared<
      std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>(
      action_client_->async_send_goal(goal_, send_goal_options));
    time_goal_sent_ = node_->now();
  }