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I think you are confusing a bit what should actually be in your Python node.

You should translate the C++ code into Python, which basically means having a single actionlib client that sends goals.

Localization, loading maps, etc, would not be in the Python node, but would rather run as separate nodes, typically started by a launch file.

Your launch file would most likely have an "include" of turtlebot_navigation/move_base.launch to get localization, planning, etc as well as launching your Python-based node which sends waypoints to move_base.

Finally, don't forget that you will likely need to send an "initial pose" to AMCL before you can go anywhere.