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There is also the "Pose" display type in rviz, which subscribes to PoseStamped messages. The trouble for your application (I think) is that it only shows a single axis, not a sequence of them. It would make sense to add a feature that let you specify a "history length" or number of poses to display. Adding an issue to rviz: https://github.com/ros-visualization/rviz/issues/652

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