Hi all ,i want to use Navigation stack to move my turtlebot to my detected object ,, So , I want to send my goal to movebase package i have read the movebase code but i found that the goal message is (geometry_msg/PoseStamped) that require a position

my Question is : Can i send a different goal message type ?

say i want my robot to detect my Object then use movebase to plan and Go to it and detection publish a **/rekinect/detectionresults (rekinectobjectdetector/DetectionResult)**

How can i link these two aspects detection result and object position ?

thanks ,