From 466acb0692d43f4e420a376865a53218bcafeab3 Mon Sep 17 00:00:00 2001
From: Mehdi <60067141+mehhdiii@users.noreply.github.com>
Date: Tue, 18 Jun 2024 10:10:59 +0200
Subject: [PATCH] fix: pass message instance to send goal in action client
 (#163)

---
 jupyros/ros1/ros_widgets.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/jupyros/ros1/ros_widgets.py b/jupyros/ros1/ros_widgets.py
index e1f9942..cbd2290 100644
--- a/jupyros/ros1/ros_widgets.py
+++ b/jupyros/ros1/ros_widgets.py
@@ -415,8 +415,9 @@ def action_client(action_name, action_msg, goal_msg, callbacks=None):
     thread_map[action_name] = False
 
     def send_goal(arg):
-        widget_dict_to_msg(goal_msg, widget_dict)
-        a_client.send_goal(goal_msg,
+        goal_msg_instance = goal_msg()
+        widget_dict_to_msg(goal_msg_instance, widget_dict)
+        a_client.send_goal(goal_msg_instance,
                            done_cb=done_handle,
                            active_cb=active_handle,
                            feedback_cb=feedback_handle