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In the nav2d package examples there is a node which creates a map and shows the path of the robot as well in RViz Check out the nav2d tutorial 3. There is a node which does that. I do not think there is anything existent for showing the path directly in Gazebo yet. Neither I know why you should show it there, when you have RViz, but maybe you are creating a drawing robot ...

Maybe you need to write your own Gazebo plugin then: