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The robot pose is published to tf (as the map->odom transform) if the "pub_map_odom_transform" parameter is set to true. It also is published as a geometry_msgs/Twist message on the "slam_out_pose" topic. This and a few more ways to retrieve pose data are also documented on the hector_mapping wiki page.
How you use the robot pose is beyond the scope of the hector_mapping documentation. The navigation stack is an example of using the robot pose for obstacle avoidance and navigation (even if it is very complex).
Depending on what you want to do it might or might not make sense to use hector_localization. The description should give you a good idea of what it provides.
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