The explore_lite (http://wiki.ros.org/explore_lite) package works well with Hector mapping. You could see a video of this combination working here:
https://youtu.be/XtuAL6V3FoQ
Basically, you need to have hector, move_base and explore_lite running concurrently. Also, from 'http://wiki.ros.org/explore_lite':
"Navigation through unknown space is required for explore_lite."
So make sure to set navfn_global_planner_params.yaml:
allow_unknown: true #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true
You could find pre-configured kits and fully-assembled robots available at: https://rhoeby.com. Providing out-of-the-box support for Frontier Exploration.