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All the warnings in move_base are there for a reason, they can tell you if there are any mismatches that shouldn't be there. But if you don't want to use it, then you have few options.

  1. Take a look at demo_pioneer. It tracks your object based on a pose. You can provide that pose to tracker node and it will do the rest for you.
  2. Take a local planner from nav_stack and modify it to work with your setup.

NOTE: Odom is important to have because it gives you sense of how much you have moved and will tell you when you have reached your position. In your case if your tracked human is not visible anymore getting robot to exact position of where it saw human last will be troublesome as you are not getting any new pose information.