I have a doubt regarding the hectorexploration.I couldn't find much documentation for the hectornavigation stack.

My goal is to make the robot explore unknown territory on its own and make a map simultaneously. In order to run the hector exploration what all are needed? Can you please guide me:

1. Robot configuration launch file : i).launches node for laser data, publishes data on /scan ii). Publishes data on /odom iii). Tf between odometry frame and baselink and tf between laser frame and baselink.

2.Hector slam package: I verified the working of this package and it works fine.I suppose this takes care of mapping and provides transform between map and odom frames.

1. Launch hectorcostmaps, hectorcontroller hector_exploration node. Can you verify if this is correct?

2. A launch file that launches explorationplannernode excecutable which is part of hectorexplorationnode, and hector_controller