Autonomy problem with hector_gmapping

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Hi, i am new in ROS, so i am sorry for possible stupid questions. I try my robot (platform on caterpillars) to explore the unknown location offline. I use hector-slam (version of ROS - Indigo). I think, i need in hector_exploration-planner (to get trajectory for exploration) and hector_exploration_controller (to send velocity to car). I launch hector exploration node and controller. It generate exploration path with some poses, find frontiers. And, if i understand correctly, i should subsribe exploration_controller to topic /exploration_path by exploration_node and send cmd_vel to car? How can i do the second?

Thank for any help.