Navigation by goal with Hector Quadrotor

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Hi!

I'm making a ROS enable quadrotor. And I'm learning a little with Hector Quadrotor in Gazebo.

I can use pr2_teleop to control the quadrotor, but I don't know how navigate by goals or paths. I found a launch file in

hector/hector_navigation/hector_exploration_node/launch/exploration_planner.launch

that sould works to this purpose. But when I try to launch it I receive the next error:

ERROR: cannot launch node of type [hector_exploration_node/exploration_planner_node]: can't locate node [exploration_planner_node] in package [hector_exploration_node]

Are there any way to launch that file? Are there any way in that package to navigate by key point or to a goal?

Thank you so much!