ROS : Robot moves to certain coordinate point but how to stop and set multiple goals?

edit

I wrote similar task for a robot, but it was based on long/lat gemoetry, tell me if you'll need the source code and explanation.

But the reason for your robot spinning is because its always trying to reach the goal.x = 0 and goal.y = 0, when it gets close your robot "corrects" itself, but because nothing is 100% precise, it fails to do so and enters an endless loop of trying to reach the point. A solution to this is using a distance and "bearing" (Your theta if I understood right) and setting a distance larger than 0, close enough so the robot can achieve suitable results, (lets say radius of your robots side) so the robot will get somewhere close to your point, but not exactly on it.

For your second problem, I used a list, of co-ordinates as a 'path' I need to reach. lets say I have a cords_list = [[0,1],[3,4],[12,15]] as cords points I need to reach, this will be our path. and I loop the code and set my target as goal.x = cords_list[0][0] and goal.y = cords_list[0][1] and I try to reach it, but set a condition which is related to the distance of you to the point and say

while distance_to_target >= 5:
     # try to reach the point

and when I'm reaching the goal, I delete the first tuple from the list, this way when I iterate again my code, I will enter the loop with the distance to target larget than 5, and will now try to reach the second point. this until the list is empty, and you finish your task.

Now, few key points, you'll need to do 2 nested while loops, one to iterate the calculations, and one inside, to attempt to reach the path, of course, once you enter the path reach loop, you'll still need to do the calculations to update the position and distance of your robot relative to the point you need to rich.

EDIT: Here I used your code and adapted it to do what you've requested. I prefered to use your code, as I know how difficult it can be for beginners to read new code. I rechecked the code I wrote, I was mistaken, you dont really need an additional While loop, so I wrote it as I would recommend it to be (plus its simpler :D) PS: I havn't ran it, tell me how it goes, you might need to tweak some variables/numbers

import rospy 
from nav_msgs.msg  
import Odometry from tf.transformations import euler_from_quaternion from
geometry_msgs.msg import Point

import numpy as np

 x = 0.0 
 y = 0.0 
 theta = 0.0

def newOdom(msg):
        global x
        global y
        global theta

        x = msg.pose.pose.position.x
        y = msg.pose.pose.position.y

       rot_q = msg.pose.pose.orientation (roll, pitch, theta) = euler_from_quaternion ([rot_q.x,  rot_q.y, rot_q.z, rot_q.w])

       rospy.init_node ("speed_controller ...