Getting the robot to follow the path

Hi,
I have tried to run the exploration server pkg and got a path but I do not know how to get the robot to follow the path. In the exploration server cpp file, I notice that there is an output to move_base. However, when i run the code, it stops once it output a path (around line 640) and does not continue further on with the code. Anyone has any advice on how to proceed?

Thanks in advance!