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That is the job of navigation, or maybe a controller, depending on your application. One option is to use move_base (wiki) and send each pose as a goal once your robot has achieved the previous pose. Another option (ignoring obstacles and other complications) could be to implement a feedback controller that simply operates on the difference between the current pose and the desired pose, though that may be tricky depending on the robot's dynamics. If you provide more information about your application and intent, we can find a more specific answer.