How to plot the result of navigation on 2D

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We can look at the path and pose of robot with Rviz but I don't know how to look at the result on 2D graph. 2D_Plot_Tool seems to be available during navigation. The web is this ( https://github.com/clearpathrobotics/... ). To use this plot_tool, I have to edit demo.cpp. I want to get the geometry_msgs::Path and geometry_msgs::Pose. Does anyone teach me how to edit demo.cpp? or Does Anyone know how to plot the result of navigation?