Comment by spmaniato for The heatmap package ( http://wiki.ros.org/heatmap ) says it does coverage path planning as part of its functionality. The source code is here and looks maintained: https://github.com/eybee/heatmap/tree... The heatmap package itself uses the coverage path planner from the Auburn Autonomous Lawnmower stack ( https://github.com/Auburn-Automow/au_... ), which looks out of date.

Because it's a "ROS package for automated creation of visual WiFi heatmaps." I suspect that you would have to tinker with the source code to only use the coverage functionality.