Comment by jjbecomespheh 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 ), which looks out of date.

Yeap it works but unfortunately it is only used to generate coverage way points of a geometry polygon drawn by using publish_point in rviz. It does not generate coverage path for your input map.