text: #!/usr/bin/env python
  import rospy
  from core import RobotChassis
  from core import Speaker as speaker
  from core import Speech2Text as speech2text
  
  rospy.init_node("home_edu_deonsire1", anonymous=True)
  rate = rospy.Rate(20)
  
  chassis = RobotChassis()
  
  s = speaker()
  
  t = speech2text()
  
  init = [2.67, -0.297, 0.00247]
  
  goal = [[-1.49, 8.48, 0.00247], [7.51, 7.52, -0.00143], [10.6, -3.76, -0.00143], [2.67, -0.297, 0.00247]]
  
  chassis.set_initial_pose_in_rviz()
  
  i = 0
  
  while True:
      success = chassis.move_to(goal[i][0], goal[i][1], goal[i][2])
      
      s.say("i have arrived to the point")
      
      if success == 1:
          if i == 4:
              i = 0
          else:
              i += 1
      else:
          continue
  
  print("END")