Goodwin, 27, will be added to the Royals' Major League roster once he reports, and a corresponding move will be made at that time.
Goodwin, a left-handed batter, was the 34th overall pick of the 2011 MLB Draft by the Nationals.
In 48 games for the Nats this season, Goodwin hit .200 with three home runs and 12 RBIs.
Goodwin played a career-high 74 games last season for Washington and slashed .251/.313/.498 with 21 doubles and 13 home runs.
Goodwin can play all three outfield positions and it is likely he will get a long look by the Royals, especially as they will be without outfielder Jorge Soler (left toe fracture) for another month.
Condra-Bogan, 23, was signed by the Royals in January out of the independent Frontier League. He was recently promoted to Class A Advanced Wilmington. He had a 2.08 ERA in 16 appearances at Class A Lexington.