Is possible to do autonomous mapping using HectorSLAM?

Hi!

I used the frontier_exploration package for autonomous mapping with Gmapping. I've been using HectorSLAM for mapping in a Turtlebot in Gazebo and Rviz and I tried to use the frontier_exploration for building the map without teleoperation without success. I read about the hector_navigation but I don't know if this package is simular to the frontier_exploration and I've couldn't ran it. I'm still newbie in ROS and I hope that you can help me.