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Honestly, I think you really want to stick with InteractiveMarkers (it's not clear to me that is what you are referring to when you say "basic type Marker"). Until you get a really good understanding of how they work, it's unlikely you'll be able to write a better a replacement. And it's certainly not an easy task.

A better solution (in my opinion) is to learn how to build up your own complex graphic objects, perhaps akin to the ones already supplied in RViz (see: the ogre_helpers in the RViz source). For instance, as an example from which to work, an axis Marker is simply three arrow helpers.