fcpp_plugin.xml

<library path="lib/libfull_coverage_path_planner">
  <class name="full_coverage_path_planner/SpiralSTC" type="full_coverage_path_planner::SpiralSTC" base_class_type="nav_core::BaseGlobalPlanner">
    <description>
      Plans a path that covers all accessible points in a costmap by using Spiral-STC.
      Spiral-STC works by following the walls and spiraling inwards until it cannot go further.
      Then it uses A* to go back outside of the current spiral and then spirals again.
    </description>
  </class>
</library>