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Hi @Edcherie, you can take a look at this post https://answers.ros.org/question/173780/give-manual-goal-to-hector-exploration-planner/ the author mentioned using the makePlan() function in the hector_exploration_planner.cpp you can give a goal point for navigation.

You will need to write a simple subscriber to subscribe to the 2D Nav Goal topic and use that to invoke the makePlan() function. I wrote my subscriber in exploration_node.cpp and it works for me.