Frontier_exploration Package without any Publish Point

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I was working with Turtlebot Frontier Exploration in my ROS indigo with Ubuntu 14.04 . My problem is I am not able to make the bot move the place autonomously without any Rviz Publish Point . In this question http://answers.ros.org/question/20438... the answer is given to send the action goal as empty polygon . But that doesn't work. Can someone give me a complete code ? ALso there are some topics mentioned in the wiki article of Frontier Package which were supposed to publish Frontiers' coordinates. But they ain't publishing anything! Can anybody help ?