Drawing points/particles in stageros

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I have this twist publisher working perfectly for the robot. I can see the range readings. I could use an independent cv.NamedWindow to visualize particles used in my custom particle filter. But I am wondering if it's possible to draw these particles as points directly stageros? (Say in the erratic-wander.world for example). I'm using rospy.

I would like to have something like these red dots: youtu.be/4S-sx5_cmLU?t=2m35s

(Insufficient karma to post as a link.)