How can send multiple goals with Action API?

Hi I send sequence of goals to move_base SimpleActionServer. But server just processes the first and last goals. Goals between first and last goals are dropped. In [API](http://docs.ros.org/kinetic/api/actionlib/html/classactionlib_1_1simple__action__server_1_1SimpleActionServer.html) , it says that: only one goal can have an active status at a time. Clearly this is the reason of that issue. But is there any solution for that problem or alternative server that can accept goals faster than SimpleActionServer? Note: - This issue is discussed [here](https://answers.ros.org/question/9776/action-server-with-more-than-one-action/) but solution is not so clear. (it is advised to use actionlib API directly, but how?) - This issue is discussed [here](https://answers.ros.org/question/210987/sending-a-sequence-of-goals-to-move_base/) but solution is not so clear. (it is advised to use Action API of move_base, but how?) Thanks