Revision history [back]

move_base is a state-based controller. It has three states of operation: PLANNING, CONTROLLING, and RECOVERY. The problem that you're going to encounter in your application is that every time the target (the object being tracked) moves, move_base will re-enter the planning state, and it cannot drive in that state. It's unlikely that you'll be able to use move_base for this purpose.

It seems that what you're trying to do is similar to a visual servo. You want to publish motor commands that will keep you a certain distance from your target. It doesn't seem to me like this would require much path-planning. It might be solved using simple motor commands (drive forward, turn left, etc) and using the sensor data as feedback.