Rviz UI

[FrGe2016]

I have used this ros package https://github.com/ethz-asl/polygon_coverage_planning. It is interesting because, It can handles obstacle polygons inside an external polygon that define the terrain limits. The ui is also interesting allowing for polygon drawing in rviz and capability to draw over a satellite image, row overlap etc. But has a few drawbacks :

• not ros 2
• not integrated in the navigation stack
• since it was conceive for drone, points in the path do not have orientation.

[SteveMacenski]

Sounds like good potential inhancements! This has the ability to process internal voids with the new F2C release and update in #53. The rviz drawing UI not so much, but that would be relatively straight forward to add. I actually did some of my testing by using the clicked_point topic in rviz to set points for tests, so its easy to subscribe to that to populate polygons (or create a whole rviz panel thing for additional options).

An effort from yourself or others interested in this capability would be greatly appreciated and I'd be happy to review / merge it to have that available for the community!

I hope you don't mind, I renamed the ticket to be a bit more descriptive