ROS Kinetic full map coverage
I would like to be able to use nav stack to completely cover a map. Feeding it a series of points is stiff and time consuming for in terms of navigation and man power. Ideally I would like to have a costmap pushing the robot to the closest unexplored point and looping until all possible areas of the map have been covered. I have looked at hector_exploration_planner and frontier_exploration but neither seem to do what I am looking for. Is there a package out there that does this or do I have to write my own? If so, what can I look into to start? Thank you!