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May not be different from what you need though, use Publish Point tool on RViz. It's usually on the top bar of RViz. See this video that shows placing multiple Publish Points in a closed loop draws polygon.

I want the user to click and drag to draw on the map, and I want to be able to produce a standard nav_msgs::Path from it. Any ideas how to do this?

Not entirely sure, but with frontier_exploration package you can specify a region for the robot to explore, and the software computes a path to that location. In the same link I mentioned above is a bit more about the package.

May not be different from what you need though, use Publish Point tool on RViz. RViz (surprisingly I don't find it described anywhere on ROS wiki). It's usually on the top bar of RViz. See this video that shows placing multiple Publish Points in a closed loop draws polygon.

I want the user to click and drag to draw on the map, and I want to be able to produce a standard nav_msgs::Path from it. Any ideas how to do this?

Not entirely sure, but with frontier_exploration package you can specify a region for the robot to explore, and the software computes a path to that location. In the same link I mentioned above is a bit more about the package.

May not be different from what you need though, use Publish Point tool on RViz (surprisingly I don't find it described anywhere on ROS wiki). It's usually on the top bar of RViz. See this video that shows placing multiple Publish Points in a closed loop draws polygon.

I want the user to click and drag to draw on the map, and I want to be able to produce a standard nav_msgs::Path from it. Any ideas how to do this?

Not entirely sure, but with frontier_exploration package you can specify a region for the robot to explore, and the software computes a path to that location. In the same link I mentioned above is a bit more about the package.