Real time robot position visualization

edit

I have a ros node which simulates an underwater vehicle 2D motion, by reading the yaw reference angle from a topic published by another node and whose value is computed comparing the current vehicle position with respect to a desired one.

I would like to visualize the real time position of the vehicle (meaning while the node encharged to simulate the vehicle computes it) on a graph whose axes are the x and the y of the reference frame.

So far I have used rqt_plot, but it merely allows to visualize the topic contents referred to the time the data is computed.

Any suggestion?