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If you have a number of points, you can iterate through them to create markers. The markers can be spheres (ie points in space) or lines if you want to visualize it as a trajectory (see the line strip section for the marker documentation). But the location and frame of these markers would come from the existing Poses you have collected.

RViz supports displaying marker arrays from a topic. So you would publish the markers as a single marker array message to a topic of your choosing, then subscribe to that topic in RViz using the MarkerArray Display plugin.