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First and easiest is to make a node which subscribes your topic and publishes another visualization topic of type Marker (or MarkerArray) (look at http://wiki.ros.org/rviz/DisplayTypes/Marker ).

The other option is to implement a custom RViz. See e.g. the tutorial at http://ros.org/doc/api/rviz_plugin_tutorials/html/display_plugin_tutorial.html .

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