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 ), which looks out of date.

Or maybe not. See what happens if you run this launch file without the wi-fi stuff: [heatmap_sim.launch](https://github.com/eybee/heatmap/blob/jade-devel/launch/heatmap_sim.launch)