CSV to ROS simulation

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I have a CSV file with rows that look like:

timestamp1, robot1.x, robot1.y, robot2.x, robot2.y, robot3.x, robot3.y

And I have a map of the room that these robots were navigating.

How can I take this data and turn it into a ROS simulation? I need to have some simulator (rviz??) display the robot's position and path as it navigates this room. So my question has two parts:

1. How do I take the CSV data and put it into a format that ROS can read and play back (CSV -> bag???)
2. How do I take the information from the room and put it into a simulator?