I have an RPLidar, an apm flight controller and a sonar sensor(to measure height). I have implemented simple 2D slam using hector_slam package. My objective is to achieve autonomous indoor flight of my quadcopter. What I don't understand is how I can avoid obstacles using the map obtained from hector_slam implementation and navigate freely through the environment.

Any sort of help, a hint, a simple direction will be highly appreciated!

Thanks.