I need your help

[weicyingqiaopian]

Excuse me, why does the generated path plan pass through obstacles

[ipa-rmb]

This is basically a matter of visualization. We do not plan a specific trajectory for the connecting journey between two workpaces or rooms in the map (the coverage path planner usually partitions the map or room into several smaller workspaces, and each of the workspaces gets a collison-free planned coverage path trajectory). The goal for moving to the next work area after completing the previous is usually commanded to the navigation package which finds a collision-free path once it is needed. Due to dynamics in larger maps, it does not really make sense that the coverage path planner already plans a long driving path from one work cell to the next in advance, as the dynamic obstacle situation might change severely such that another path would be required. So what you see in the picture is the straight connecting lines from the last point of one work area to the first point in the next work area. If you would also need collisions-free connecting paths between work areas at this stage, please have a look into the code and add a call to the A* path planner at the respective place.

[weicyingqiaopian]

Thank you for your answer on how to make the path planning it generates sparse and bypass obstacles