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Hi, I modified the famous tutorial that sends goal to move_base. The code sends 5 different goals sequantially. Hope this helps

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <iostream>
#include <array>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

int x [5] = { 1, 2, 2, 4, 4};
int y [5] = {0, 0 ,2 , 2, 4};

int lenght0f_Array = sizeof(x) / sizeof(x[0]);

int main(int argc, char** argv){

//tell the action client that we want to spin a thread by default
MoveBaseClient ac("move_base", true);

//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}

move_base_msgs::MoveBaseGoal goal;

//we'll send a goal to the robot to move 1 meter forward
for( int i = 0; i < lenght0f_Array; i = i + 1 ) {

goal.target_pose.pose.position.x = x[i];
goal.target_pose.pose.orientation.w = y[i];
ROS_INFO("Sending goal");
ac.sendGoal(goal);

ac.waitForResult();

if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Hooray, the base moved 1 meter forward");
else
ROS_INFO("The base failed to move forward 1 meter for some reason");
}

return 0;
}