For a robot mower using rtabmap Need to update...
This packege uses the waypoint generater from au-automow and heatmap
au-automow https://github.com/Auburn-Automow/au-automow
heatmap https://github.com/eybee/heatmap
clone mowing planner first
https://github.com/inuex3/mowing_planner
after catkin_make
run
roslaunch robot_mower_2dnav planning_test.launch
rosrun robot_mower_2dnav heatmap_client
and
rosrun robot_mower_2dnav path_planner.py
Draw a geometrycal figure with publish_point