I'm working on my own global planner for simulation of the turtlebot3 navigating around a map.

I've got something that seems to work in that the simulated robot finds a path from A to B and drive it, reaching it's goal.

However, I'm in no way an expert at ROS and can't help but wonder how effective my path planner actually is, as it's not really obvious from the rviz simulation other that the path doesn't go in circles or something like that.

I therefore wondered if there were some way to ideally simulate or otherwise gain more information about what happens during the path planning so I can compare and improve my planner?