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This package contains the Complete Coverage Task Server & auxiliary tools utilizing the [Fields2Cover](https://github.com/Fields2Cover/Fields2Cover) complete coverage planning system which includes a great deal of options in headland, swath, route, and final path planning. You can find more information about Fields2Cover (F2C) in its [ReadTheDocs Documentation](https://fields2cover.github.io/index.html). It can accept both GPS and Cartesian coordinates and publishes the field, headland, swaths, and route as separate topics in cartesian coordinates for debugging and visualization. It can also compute coverage paths based on open-field polygons **or** based on annotated rows as might exist in a tree farm or other applications with both irregular and regular pre-established rows.
This capability was created by [Open Navigation LLC](https://www.opennav.org/) in partnership with [Bonsai Robotics](https://www.bonsairobotics.ai/). Bonsai Robotics builds autonomous software for machines in adverse and GPS degraded conditions utilizing vision. Bonsai Robotics funded the development of this work for their own product and has graciously allowed Open Navigation to open-source it for the community to leverage in their own systems. Please thank Bonsai Robotics for their commendable donation to the ROS community! Bonsai is hiring [here](https://www.bonsairobotics.ai/jobs).
This capability was created by [Open Navigation LLC](https://www.opennav.org/) in partnership with [Bonsai Robotics](https://www.bonsairobotics.ai/). Bonsai Robotics builds autonomous software for machines in adverse and GPS degraded conditions utilizing vision. Bonsai Robotics funded the development of this work for their own product and has graciously allowed Open Navigation to open-source it for the community to leverage in their own systems. Please thank Bonsai Robotics for their commendable donation to the ROS community! Bonsai is hiring [here](https://www.bonsairobotics.ai/careers).
