is there a package to visualize map made of points

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My OS is ubtuntu16.04, ros-kinetic. I want sample many points with GPS. Then I would connect these points to the lines which represent the road. And this is the map. And the points can be the waypoints, which can navigate the vehicle. I wonder is there a existent package can visualize the map, and can help to generate the route from the start to goal with the point, It is better that choose the goal by click the screen.