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For anyone that could be interested in this in the future, attaching a project of mine I did earlier which visualises Depth First Search, Breadth First Search, Djikstras and A* in rviz : https://github.com/indraneelpatil/GraphPlanning
I am using a nav_msgs/GridCells message to visualise the occupancy grid map and visualization_msgs/MarkerArray to visualise the cost map
Explored nodes, frontier nodes and final path are highlighted in the same messages above using specific colours.
The demos are uploaded here : https://www.youtube.com/watch?v=s5UPQj2Uy40 and https://www.youtube.com/watch?v=NP1IigrCXcg
Cheers!
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