cd ~/catkin_ws/src/kr_autonomous_flight vcs import < external_coverage_planner.yaml vcs pull cd ../.. 

Build your code again

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build 

The coverage planner will automatically publish waypoints to the autonomy stack.

Step 1: Follow the previous instructions to have your robot take off.

Step 2: Follow the instructions here to get the coverage waypoints published to the robot.