Coverage path planning ros

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Under the known packages, we use the navigation to achieve the goal of from one point to another point. Now, I have a project to achieve the task of such path planner can determine a path that passes over all points of an area or volume of interest while avoiding obstacles. I have search some related questions, for example: text. I have some try use heatmap package,and these package is depend on au_automow_common package ,but it is a pity that these package is out-of-date. Is anyone have some experiences to use completely path planning under the environment of ROS ?