Publish action from Unity with coordinates to ROS2 Action

Hello folks,
I'm just wondering if it is possible to send action from Unity to ROS2. I tried different possible solutions but I constantly got an error with an unknown message class: Unknown message class 'nav2_msgs/NavigateToPoseActionGoal'
Is there any possible solution for that? I generated my action type nav2_msgs/action/NavigateToPose using "Generate ROS Messages" in Unity, but it created 7 files for that. Here is an example of my script:

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4. using Unity.Robotics.ROSTCPConnector;
5. using RosMessageTypes.Std;
6. using RosMessageTypes.Geometry;
7. using RosMessageTypes.Nav2;
8.  
9. public class GoalPublisher : MonoBehaviour
10. {
11.     ROSConnection ros;
12.     public string topicName = "/navigate_to_pose";
13.  
14.     public Camera mainCamera;
15.     public GameObject plane;
16.     public GameObject bluePoint;
17.     public GameObject greenPoint;
18.     private GameObject currentPoint;
19.  
20.     private Plane _plane;
21.  
22.     // Start is called before the first frame update
23.     void Start()
24.     {
25.         ros = ROSConnection.GetOrCreateInstance();
26.         ros.RegisterPublisher<NavigateToPoseActionGoal>(topicName);
27.         _plane = new Plane(plane.transform.up, plane.transform.position);
28.     }
29.  
30.     // Update is called once per frame
31.     void Update()
32.     {
33.         Ray ray = mainCamera.ScreenPointToRay(Input.mousePosition);
34.         float distanceToPlane;
35.  
36.         if (_plane.Raycast(ray, out distanceToPlane))
37.         {
38.             Vector3 hitPoint = ray.GetPoint(distanceToPlane);
39.             if (currentPoint == null)
40.             {
41.                 currentPoint = Instantiate(bluePoint, hitPoint, Quaternion.identity);
42.             }
43.             else
44.             {
45.                 currentPoint.transform.position = hitPoint;
46.             }
47.         }
48.  
49.         if (Input.GetMouseButtonDown(0))
50.         {
51.             Vector3 hitPointSend = ray.GetPoint(distanceToPlane);
52.  
53.             // Create a green point at the clicked position
54.             Instantiate(greenPoint, hitPointSend, Quaternion.identity);
55.  
56.             NavigateToPoseActionGoal sendGoal = new NavigateToPoseActionGoal
57.             {
58.                 goal = new NavigateToPoseGoal
59.                 {
60.                     pose = new PoseStampedMsg
61.                     {
62.                         header = new HeaderMsg
63.                         {
64.                             // stamp = RosTime.UtcNow(),
65.                             frame_id = "map"
66.                         },
67.                          pose = new PoseMsg
68.                         {
69.                             position = new PointMsg
70.                             {
71.                                 x = hitPointSend.z,
72.                                 y = -hitPointSend.x,
73.                                 z = hitPointSend.y
74.                             },
75.                             orientation = new QuaternionMsg
76.                             {
77.                                 x = 0,
78.                                 y = 0,
79.                                 z = 0,
80.                                 w = 1
81.                             }
82.                         }
83.                     }
84.                 }
85.             };
86.             ros.Publish(topicName, sendGoal);
87.         }
88.     }
89. }
90.  

I will really appreciate any help.