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In the Hector Navigation Stack there is also a hector_exploration_node and a hector_exploration controller. The hector_exploration controller will publish twist messages on the cmd_vel topic. These values will give you a velocity x and an angular z.

If you are using arduino, in the arduino code you need to subscribe to the cmd_vel topic, and then manipulate the values there.

If you want to test and see if you publish values on cmd_vel, run your laser scanner and hector slam and then run

roslaunch hector_exploration node exploration_planner.launch

and

rosrun hector_exploration_controller simple_exploration_controller

then you need to listen to the topic

rostopic echo cmd_vel

After that you should see a stream of values. Mine comes out in bursts. Hope this helps.