Autonomous Exploration Hector SLAM

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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.