move_base_example.py

# not tested:
import rospy
import actionlib
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from geometry_msgs.msg import PointStamped, PoseStamped

def call_move_base(self, pose):
    move_base_goal = MoveBaseGoal()
    # get target_pose
    move_base_goal.target_pose.pose = pose
    move_base_goal.target_pose.header.frame_id = "/map"
    move_base_goal.target_pose.header.stamp = rospy.Time.now()
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
    client.wait_for_server()
    client.send_goal(move_base_goal)
    client.wait_for_result()
    return client.get_state()