Hi! Thanks for the chat today! I'm happy to be working together to have out-of-the-box support for coverage planning in ROS 2 via Nav2! As discussed:

Things we need to support:

• Start points and optionally end point setting
• Voids in the field (Related: How to deal with internal static obstacle？ #38, https://github.com/Fields2Cover/Fields2Cover/tree/cellular_decomposition)
• Concave shapes (Related: Support more complicated shapes #11)
• Option to have turns happen inside the polygon when leaving the polygon shape is not permissible Option to have turns happen inside the polygon when leaving the polygon shape is not permissible #76
• Overlapping operational segments throughout if op width < robot width
• have path around border option

Tentatively:

• I'd plan to work on the ROS 2 / Nav2 integration server work + documentation / tutorials -- with some demos needed for API use for example to work from
• Vinny / Adam plan to work with Gonzalo on the technical features above
• I think all 3 of us should get together to discuss the ROS 2 Action interface

This will definitely make a good ROSCon talk for 2024 for Vinny/Adam/Gonzalo or a subset of them to present!

CC @vinnnyr @Aposhian