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The easiest thing to do is publish something to be rendered in rviz such as a Pose or Point at (0,0,0) in the /body frame and turn up the decay time.

If you want to do it in a way that is persistent and recordable the quickest thing to do will be to write a quick python node which records the points and then renders a Polygon path such as the planners and updates it each time the path is resampled.

All messages are in geometry_msgs