Improve logging and goal sent behavior #8
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I’ve polished the goal retry mechanism. Now it recreates the client and resends goals after a timeout to better handle message loss without errors. I also replaced the previous retry-counting logic with a simpler, state-based approach. With these changes, the patrolling behavior should now start without warnings or errors, although some logging remains since, depending on the QoS settings, we may still need to resend the goal.