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Eventually figured it out. Replace the first two nodes shown in the original post (in the exploration.launch file) with:

<node pkg="exploration_server" type="plugin_client" name="plugin_client" output="screen">

</node>

<node pkg="exploration_server" type="exploration_server_node" name="exploration_server_node" output="screen">

However, as mentioned in the comments, the package still doesn't explore, but it now does the same thing for Husky that it does for the other robots I tried it on (namely, shows the severe warning mentioned in the comments). I also had to download a handful of packages from source just to get the Husky packages to run at all, as described in this answer.