How to know that the goal is on the map or not?

edit

My code is using the goal as input from the sensor but sometime some values is out the map because sensor's noise.

How to figure it out and put a condition if the value is on map (send goal), otherwise (no send goal)?

you can see the values in the code is position = {'x': 1.22, 'y': 2.56}

this full my code:

#!/usr/bin/env python


import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion


class GoToPose():
    def __init__(self):

        self.goal_sent = False

        # What to do if shut down (e.g. Ctrl-C or failure)
        rospy.on_shutdown(self.shutdown)

        # Tell the action client that we want to spin a thread by default
        self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
        rospy.loginfo("Wait for the action server to come up")

        # Allow up to 5 seconds for the action server to come up
        self.move_base.wait_for_server(rospy.Duration(5))

    def goto(self, pos, quat):

        # Send a goal
        self.goal_sent = True
        goal = MoveBaseGoal()
        goal.target_pose.header.frame_id = 'map'
        goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
                                     Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))

        # Start moving
        self.move_base.send_goal(goal)

        # Allow TurtleBot up to 60 seconds to complete task
        success = self.move_base.wait_for_result(rospy.Duration(60))

        state = self.move_base.get_state()
        result = False

        if success and state == GoalStatus.SUCCEEDED:
            # We made it!
            result = True
        else:
            self.move_base.cancel_goal()


        self.goal_sent = False
        return result

    def shutdown(self):
        if self.goal_sent:
            self.move_base.cancel_goal()
        rospy.loginfo("Stop")
        rospy.sleep(1)


if __name__ == '__main__':
    try:
        rospy.init_node('nav_test', anonymous=False)
        navigator = GoToPose()

        # Customize the following values so they are appropriate for your location
        position = {'x': 1.22, 'y': 2.56}
        quaternion = {'r1': 0.000, 'r2': 0.000, 'r3': 0.000, 'r4': 1.000}

        rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
        success = navigator.goto(position, quaternion)

        if success:
            rospy.loginfo("Hooray, reached the desired pose")
        else:
            rospy.loginfo("The base failed to reach the desired pose")

        # Sleep to give the last log messages time to be sent
        rospy.sleep(1)

    except rospy.ROSInterruptException:
        rospy.loginfo("Ctrl-C caught. Quitting")

Thank you in advance!