Full coverage path planner

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I already have the map. What I want is that the robot cover the complete map, it must go in every free space of the map.

Then you have to somehow define, which area of the map is covered when the robot moves within the map. But I don't know if something like this exists in ROS.

I concur. I don't know of any code that does this.

There is lot of algorithms which deal about that specific issue, so I'm surprise that anybody tried to implement one of this algorithms

is there a ROS package that supports autonomous map building? for example, we can just place the robot in a room and it begins to build the map by itself vs. teleop control.

Re-exploring a known area was my initial use case for http://wiki.ros.org/frontier_exploration. You can use the client tool to set an exploration boundary in rviz. It can also be used to explore an unknown area with gmapping.

Paul,I find your package is a good job.I'm a newer to ROS and when I use your package I have some trouble that I can't build it.when I use the command catkin_make in the root of my own workspace there are some errors.It says "Could not find a configuration file for package costmap_2d and move_base_m

so can you tell me how to solve the question or how you build this package?Thank you.