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I think the simplest way is to write your map to a .pgm file. I guess a simple program can do it. It has to map the occupied points to black pixels (value=0), the free points to white pixels (254) and unknown points to gray pixels (205).

Then you can use the map_server package to publish it to rviz with the command: rosrun map_server map_server mymap.pgm

If you set the fixed frame as "/map" in rviz, you should see your map.

Hope this helps,