fix: pass copied goal to set_message_fields as it modifies goal contents in ROS 2 Jazzy (#699)

Author: maciejmajek

src/rai_core/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "rai_core"
-version = "2.5.0"
+version = "2.5.1"
 description = "Core functionality for RAI framework"
 authors = ["Maciej Majek <[email protected]>", "Bartłomiej Boczek <[email protected]>", "Kajetan Rachwał <[email protected]>"]
 readme = "README.md"

src/rai_core/rai/communication/ros2/api/action.py

@@ -213,7 +213,9 @@ def send_goal(
 
         action_cls = import_message_from_str(action_type)
         action_goal = action_cls.Goal()  # type: ignore
-        rosidl_runtime_py.set_message.set_message_fields(action_goal, goal)
+        rosidl_runtime_py.set_message.set_message_fields(
+            action_goal, copy.deepcopy(goal)
+        )
 
         action_client = ActionClient(self.node, action_cls, action_name)
         if not action_client.wait_for_server(timeout_sec=timeout_sec):  # type: ignore