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First of all you can detect object with camera, but you cannot get coordinates of the object since camera is a 2D sensor, you need laserscan, pointcloud or stereo-camera. But if you want to do it with just camera, take a look here. You can add the distance you measure as a new transform and give it's coordinates to end effector to move towards. Here is a URDF tutorial that will help you to add a new link.