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How can I move my robot based on meters and not coordinates on Gazebo?

I have a wall I want my robot to park itself perpendicular to, which is done by grabbing the distance (msg.ranges) and calculating arctan. However, for example lets say my wall is at x=3 and y=2 from the robot. The robot will go to coordinates (3,2) instead of going straight 3 and left 2. How can I move the robot to a location based on the robot's base_link and not map?