The problem is the s:url tag.
<a href="<s:url action="enter-goal" />"> Edit Goal</a>
The server-side tag tells Struts to return a URL to an action (controller in MVC terminology) named 'enter-goal'. Actions are defined in the struts configuration file (or maybe annotations, not sure?).
To link to the JSP, just point to the JSP directly. No need for a server-side tag:
<a href="enter-goal.jsp"> Edit Goal</a>