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https://github.com/lucasw/rqt_topic_display can show a single number from a std_msgs number message or a marti_common_msgs number message.

The user interface is extremely minimal, you have first export then edit the rqt .perspective file to enter the topic in:

    "plugin__rqt_topic_display__Number Display__1": {
      "keys": {},
      "groups": {
        "dock_widget__NumberDisplayUi": {
          "keys": {
            "dock_widget_title": {
            ...
            "topic": {
              "repr": "'/foo/my_number'",
              "type": "repr"
            }