How to fly aerial robot using hector slam? [closed]

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Hi,

So I managed to map out the environment using this launch file while running hokuyo_node:

<launch>

<include file="$(find hector_mapping)/launch/mapping_default.launch"> <arg name="base_frame" value="base_frame"/> <arg name="odom_frame" value="base_frame"/> </include>

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> <arg name="trajectory_source_frame_name" value="base_frame"/> </include>

<node pkg="tf" type="static_transform_publisher" name="base_frame_to_laser_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>

</launch>

But my question is how can I use all this information to send commands to my robot? I tried looking into many things about ros on the web, but its seems too cryptic to me. Can somebody please help or at least lead me to the right direction?