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As mentioned here above, you can use a MarkerArray for this. Here is my example:

ros::Publisher viz_linearconstraints_pub_;
viz_linearconstraints_pub_ = nh.advertise<visualization_msgs::MarkerArray>("/linearconstraints_viz", 1);

visualization_msgs::MarkerArray linear_constraints;

for (int i = 0; i < linear_constraints_.halfspaces.size() - 4; i++){
    visualization_msgs::Marker line;
    line.type = visualization_msgs::Marker::LINE_STRIP;
    line.ns = "linear_constraints";

    line.id = i;
    line.action = visualization_msgs::Marker::ADD;
    line.scale.x = 1;
    line.color.g = 1.0;
    line.color.a = 1.0;

    geometry_msgs::Point p;
    p.x = -20*i;
    p.y = 10;
    p.z = 0;
    line.points.push_back(p);

    p.x = 20*i;
    p.y = -10;
    p.z = 0;
    line.points.push_back(p);

    line.header.frame_id = "map";
    linear_constraints.markers.push_back(line);
}
viz_linearconstraints_pub_.publish(linear_constraints);