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You are asking specifically about Hector, but is there a constraint that requires you to use Hector? I ask because the Navigation stack documentation has a nice tutorial that provides instructions essentially starting from scratch. It's great way for beginner to quickly* get a robot moving on its own.
http://wiki.ros.org/navigation/Tutorials
It will show you gmapping slam (unlike Hector Slam, it requires odometry info with the lidar to build map) instead of Hector to build a map, then introduce AMCL and move_base for the localization and autonomous navigation and obstacle avoidance. If your robot has a means of getting odometry (wheel encoders, IMU, other?) I think the navigation stack is a good place to start.
DISCLAIMER: I have used Hector SLAM for map building, but tried nothing more with it. Did not attempt navigation with it. I am not advocating Navigation Stack over Hector Navigation, I am advocating for the thorough tutorial that comes with the Navigation Stack. YMMV.
*quickly is a relative term...
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