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Rviz + https://github.com/ajshort/rviz_ortho_view_controller and broadcasting the position as a tf (or a Marker) is somewhat overkill but you are probably going to be using rviz anyhow.

Drawing onto an Image using opencv and publishing it or even using imshow is quick and dirty. (I thought there was a turtlebot example that did this but I can't find it)

https://github.com/clearpathrobotics/2D_Plot_Tool hasn't been updated recently, there might be others.