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It is not 100% clear to me what you are trying to achieve. What do you need the marker tool for?

If you just want to print out the way the robot took using only odometry (I assume this now), you need to write a node to subscribes to the odometry topic (or having a tf_listener getting the odom->base_link transform) which frequently publishes this transform in a respective display type. You can use a built-in type, as e.g. the Path type or create one following the tutorials here.