Detecion and move_base goal [closed]

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Hi all ,i want to use Navigation stack to move my turtlebot to my detected object ,, So , I want to send my goal to move_base package i have read the move_base 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 move_base to plan and Go to it and detection publish a /re_kinect/detection_results (re_kinect_object_detector/DetectionResult)

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

thanks ,