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rqt_plot will plot this information if you publish it in a topic. Let's see in more detail what you want to do, first:

the path that robot finds: This is best displayed in RViz IMHO, because it will be super-posed to the map.
You need a XY plot, rather than the time-series visualization provided by rqt_plot
you need to publish this information if you want a graphic tool to be able to visualize it.

I suggest you to take a look at

https://github.com/facontidavide/PlotJuggler

https://vimeo.com/214389001

Cheers

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