We can look at the path and pose of robot with Rviz but I don't know how to look at the result on 2D graph. 2DPlotTool seems to be available during navigation. The web is this ( https://github.com/clearpathrobotics/2D_Plot_Tool ). To use this plottool, I have to edit demo.cpp. I want to get the geometrymsgs::Path and geometry_msgs::Pose. Does anyone teach me how to edit demo.cpp? or Does Anyone know how to plot the result of navigation?