Plot trace of the robot in gazebo [closed]

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I was wondering if there was an existing tool to plot the trace of the robot in gazebo while the robot is progressing. I want to have it in Gazebo to obtain at the end the world with walls and obstacles, the robot and the path it achieved. In Rviz I would have to first map the world, then use the heavy amcl navigation and plot somehow the obstacles and then plot the trace. That's why I'd like it in Gazebo, to have already all the world and make a final screenshot with all the places the robot has been.