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Turns out, a CLI tool already exists which was added in https://github.com/ros2/ros2cli/issues/202

Quoting the ticket

  ros2 action send_goal ACTION_NAME ACTION_TYPE GOAL_MESSAGE
  # For example:
  $ ros2 action send_goal /fibonacci example_interfaces/Fibonacci "order: 5"
  Sending goal...
  Goal accepted.
  Feedback:
      sequence: [0, 1, 1]
  Feedback:
      sequence: [0, 1, 1, 2]
  Feedback:
      sequence: [0, 1, 1, 2, 3]
  Feedback:
      sequence: [0, 1, 1, 2, 3, 5]
  Result:
      sequence: [0, 1, 1, 2, 3, 5]

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