Move_base goals in 'base_link' for Turtlebot

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We're trying to get the Turtlebot to drive to points relative to the /base_link frame. We looked at the Sending Simple Goals tutorial. We've successfully gotten the robot to move by running amcl_demo.launch and using goals (either move_base_simple or regular move_base goals with actionlib) in /map frame. However, when we try to set goals in /base_link, relative to the robot, nothing happens. Our code is:

#!/usr/bin/env python

import roslib
import rospy
import actionlib

from people_msgs.msg import PositionMeasurementArray
from geometry_msgs.msg import *
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

def callback(data):
    # publish to whatever message the driving is going to take place
    pub = rospy.Publisher("move_base_simple/goal", PoseStamped, queue_size = 10)
    client = actionlib.SimpleActionClient("move_base", MoveBaseAction)
    #client.wait_for_server()

    if len(data.people) > 0:
        #person found
        rospy.loginfo("Found person, generate goal")
        target_goal_simple = PoseStamped()
        #target_goal = MoveBaseGoal()

        #forming a proper PoseStamped message
        target_goal_simple.pose.position = data.people[0].pos
        target_goal_simple.pose.position.z = 0
        target_goal_simple.pose.orientation.w = 1
        target_goal_simple.header.frame_id = 'base_link'
        target_goal_simple.header.stamp = rospy.Time.now()
        #target_goal.target_pose.pose.position = data.people[0].pos

        #sending goal
        rospy.loginfo("sending goal")
        pub.publish(target_goal_simple)
        #client.send_goal(target_goal)

def follower():
    rospy.init_node('human_follower')
    rospy.Subscriber('people_tracker_measurements',PositionMeasurementArray, callback)
    rospy.spin()

if __name__ == '__main__':
    try:
        follower()
    except rospy.ROSInterruptException:
        pass

I guess in general I'm wondering if there's a way to run navigation without a map and send goals relative to the robot? It seems to be possible, but I can't figure out how (what to launch? how to set my goals?). Any help would be appreciated! Thanks!

-Sarah