How to move a differential drive robot to target Co-ordinates?

I want to move a differential drive robot to a target co-ordinate(X = 50, Y = -50 ) from home position (X=0, Y=0) and return back to home position. The max distance the robot has to move is 20 meters. I don't want to complicate it using navigation stack because it is very simple application. How to accomplish this in ROS using odometry feedback.