Yes there is. It even works with a usb GPS device. There is routeplanner and
tripmaker in the repositories. You can get it either text based from the
comandline or a GTK GUI version. I am in Fedora KDE at the moment so I can't
check for sure on the actual names, but that is what I remember them as.

I installed routeplanner and routeplanner-gnome, but can't
seem to find it under Applications.

How do I start this thing?

Routeplanner is a commandline programme and those don't have menu entries.
However, the routeplanner-gnome should have a menu item, but it may not be
where you expect to find it. It could even be in a submenu. It might be
under Accessories or even Other. I am in PCLinuxOS, so I can't check my own
menus at this time. It comes in two parts, an editor and routeplanner. I am
not sure if I remember how to use it. The interface is quite basic. You need
to open a database first and then add cities, etc. Then hit plan route, if
memory serves. There is likely some documentation online.

You might also want to look into GPSDrive which is what I use with my usb
gps device that came with Microsoft streets & Maps and Gnomad (this requires
64-bit linux though). I have never used it. GPSDrive uses openStreetmap.

I downloaded both just now and can not find the gnome in
any folder on my desktop.

usr/bin/grplan and usr/bin/gredit
I have no experience of this application.

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