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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/jade-devel

The heatmap package itself uses the coverage path planner from the Auburn Autonomous Lawnmower stack (https://github.com/Auburn-Automow/au_automow_common), which looks out of date.

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