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This is descibed in the InteractiveMarkerControl mesage definition:

http://docs.ros.org/api/visualization_msgs/html/msg/InteractiveMarkerControl.html

# Markers to be displayed as custom visual representation.
# Leave this empty to use the default control handles.
#
# Note: 
# - The markers can be defined in an arbitrary coordinate frame,
#   but will be transformed into the local frame of the interactive marker.
# - If the header of a marker is empty, its pose will be interpreted as 
#   relative to the pose of the parent interactive marker.
Marker[] markers