Oro went by choice - nobody told him to go. Since he decided to follow Sasuke to the battlefield, finding the kages and healing them was a way to add more reinforcements.
Had Sasuke move sooner against the Kages He would had had the hole Alliance and Naruto move against Him including Madara who would have seen Sasuke plan as a hinderance to His own.
1) He doesn't really intend to kill them (I find this unlikely)
2) Oro acted alone, since he's fairly random (more likely)
3) They needed help to take down Madara and Obito (now he wants them dead)
Oro decided on his own that Gokage would be useful to Sasuke in the upcoming battle. At that point in the story Sasuke probably didn't want to, or didn't think he had the power to, kill all the kage.