Inquiry on how to create accurate waypoints which exist in a map when using polygon_coverage_ros package

[PhilipAmadasun]

I want to upload an occupancy-grid map to Rviz then use the polygon_coverage_ros package to create a coverage path. I then want to retrieve the accurate waypoints which make up the path so I can actually use them to move the actual robot across the map.Is this possible to do so currently?

As of now I am only able to trace the shape and obstacles of the environment to get a set of waypoints which I can't use to navigate the robot. Which is why I want to upload the actual occupancy-grid map to Rviz and overlay the tracing of the environment boundaries and obstacles, this way, I think( maybe I'm wrong) I'll actually get waypoints which exist in the map.

I ultimately want to compare the coverage time of this coverage path planner package to something else and the only way in which I can do so is what I just outlined at the beginning of the last paragraph. I get a path time which I assume is calculated based off the set velocity parameters and so in (in the config file of the package). This is only a theoretical coverage time and I want to make sure it's actually close to what the robot capable of achieving when tested using the waypoints.

I hope my problem description and goal is clear?