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(moderator edit: duplicating the contents of the cross-post on SO here, to avoid this being a link-only answer)

I finally solved with visualization_msgs/MarkerArray based on this question: https://answers.ros.org/question/220898/how-to-use-rviz-to-show-multiple-planing-paths/?answer=220993#post-id-220993

I post the code used here in case anyone needs it

import rospy
import math
import numpy as np
from geometry_msgs.msg import Vector3, Point
from std_msgs.msg import Empty
from visualization_msgs.msg import Marker, MarkerArray

class ProjectElement(object):
    def __init__(self):
        self.marker_pub = rospy.Publisher('~marker', MarkerArray, latch=True, queue_size=10)
        self.circle_sub = rospy.Subscriber('~circle', Empty, self.circle_cb, queue_size=10)
        self.line_sub = rospy.Subscriber('~line', Empty, self.line_cb, queue_size=10)
        self.project_sub = rospy.Subscriber('~project', Empty, self.project_cb, queue_size=10)

        self.marker_array = MarkerArray()

    def circle_cb(self, msg):

        marker = Marker()
        marker.type = Marker.LINE_STRIP

        marker.action = Marker.ADD

        marker.scale = Vector3(0.01, 0.01, 0)

        marker.color.g = 1.0
        marker.color.a = 1.0

        centre_x = 1
        centre_y = 1
        R = 0.5
        delta_th = 0.1

        for th in np.arange(0.0, 2*math.pi+delta_th, delta_th):
            x = centre_x + R * math.sin(th)
            y = centre_y + R * math.cos(th)

            point = Point()
            point.x = x
            point.y = y

            marker.points.append(point)

        marker.id = 0
        marker.header.stamp = rospy.get_rostime()
        marker.header.frame_id = "/my_cs"

        self.marker_array.markers.append(marker)

    def line_cb(self, msg):

        marker = Marker()
        marker.type = Marker.LINE_STRIP

        marker.action = Marker.ADD

        marker.scale = Vector3(0.01, 0.01, 0)

        marker.color.g = 1.0
        marker.color.a = 1.0

        x_start = 0.0
        y_start = 0.0
        length = 2
        angle = 45 * math.pi/180
        delta_th = 0.1

        for th in np.arange(0.0, length, delta_th):
            x = x_start + th * math.cos(angle)
            y = y_start + th * math.sin(angle)

            point = Point()
            point.x = x
            point.y = y

            marker.points.append(point)

        marker.id = 1
        marker.header.stamp = rospy.get_rostime()
        marker.header.frame_id = "/my_cs"

        self.marker_array.markers.append(marker)

    def project_cb(self, msg):

        self.marker_pub.publish(self.marker_array)


if __name__ == '__main__':

    rospy.init_node('markers_simulate')

    elements = ProjectElement()

    rospy.spin()

And the result achieved