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If you are sure of the quaternion values. You can simply publish using geometry_msgs/PoseStamped. Sample:

    publisher = nh.advertise<move_base_msgs::MoveBaseActionGoal>("move_base/goal", 5);
    geometry_msgs::PoseStamped GoalPose;
    move_base_msgs::MoveBaseActionGoal Goal_Pose;

    GoalPose.pose.position.x = <current pose x>;
    GoalPose.pose.position.y = <current pose y>;
    GoalPose.pose.position.z = <current pose z>;

    GoalPose.pose.orientation.x = <desired orientation x>;
    GoalPose.pose.orientation.y = <desired orientation y>;
    GoalPose.pose.orientation.z = <desired orientation z>;
    GoalPose.pose.orientation.w = <desired orientation w>;

    Goal_Pose.header.seq = GoalPose.header.seq = 1;
    GoalPose.header.stamp = 1;
    Goal_Pose.header.frame_id = GoalPose.header.frame_id = "/map";

    Goal_Pose.goal.target_pose = GoalPose;
    publisher.publish(Goal_Pose);

I used the above on a TurtleBot and it worked perfectly!