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You found a bug in rviz! I have created a ticket for it:

https://code.ros.org/trac/ros-pkg/ticket/5165

You first said that you want to publish a PoseArray to rviz, but your code publishes a PoseStamped. If you actually do the PoseArray, it will work, because I fixed the PoseArray display already. (It's fixed in the "Electric" release of rviz.)

For now, if you need the "PoseStamped" version, just use the "Axes" display.

I'll have this fixed and a new release pushed out in the next week or so.