Hi all, i am working on my turtlebot , i worked on the map and navigation in my environment ,, then i want it to detect an object model and walk toward it and Stop In Front Of it

i have used Roboearth stack to do object model and use rekinectobject_detector Algorithm to detect this model

Now i have 2 problems :

1- How can the turtlebot follow the object and change it's plane in navigation in my enviroment ?

the detect publish topic rekinect/detectionresults (rekinectobject_detector/DetectionResult)

2- the kinect must be close enough from the object to detect it in this detect method how can my turtlebot detect it remotely from a long distance to follow object's place

thanks :)