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"Exploration has finished" means that there is no reachable frontier cell from the robot's position anymore. So with the inflation radius your already on the right track. But looking at your map it seems that your global map resolution is very low. This might also be a problem, as there must be at least 1 pixel left free after applying the inflation radius to all obstacles. So try increasing the map resolution and test the navigator by sending goal points in RVIZ.