Hello echotor,
After ypu run the launch file, you have to define the region in which exploration will take place, and also the starting point for the detectors. This can be done by publushing five points from rviz. The first four define a rectangular region, and the last point is the starting point.
I think its better if you check this tutorial:
http://wiki.ros.org/rrt_exploration/Tutorials/singleRobot
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