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There are a few options that you can look into:

• You can use some of the built-in rviz display types like the Path, Polygon or Pose displays for a lot of data (for example representing walls by polygon lines)
• Otherwise, the Marker display is intended for such tasks. It allows to easily use quite a few primitives and also supports displaying meshes (You could build arbitrary complex meshes using Blender and just display them as markers)
• If these options do not offer what you'd like to have, you always have the option to write your own rviz visualization plugin. Some good examples of such plugins are part of MoveIt (Link to plugins).