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You can definitely visualize all of the above using Rviz, using nav_msgs/Path
and nav_msgs/OccupancyGrid
outputs from your algorithm.
If you algorithm fits into the move_base
state machine approach, it may be best to develop your planner as a plugin (probably for the local planner). If not, you'll probably still find reusing layered costmaps as a very helpful for sensor processing and world state.