Hi all, i have my irobot create and i want to make it navigate in the enviroment and when it see my object model begin to follow it and stop when stay in front of the object

Now i did a 2D map like in this Link

now i begin to use the turtlebot_follower demo to follow the object but it demand the octomap to perform Is this necessary to make octomap to do this task ?

thanks :)