I have used this ros package https://github.com/ethz-asl/polygon_coverage_planning. It is interesting because, It can handles obstacle polygons inside an external polygon that define the terrain limits. The ui is also interesting allowing for polygon drawing in rviz and capability to draw over a satellite image, row overlap etc. But has a few drawbacks :

• not ros 2
• not integrated in the navigation stack
• since it was conceive for drone, points in the path do not have orientation.