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I suspect this is a TF problem. There are a few things you can look at:

Is rivz subscribed to your marker topic?
In the rviz display for your markers, is the topic status OK?
Is the TF frame for your markers ("base_link") reachable from the fixed frame you have set in rviz?

You may want to try setting your fixed frame in rviz to "base_link".

Adding a screenshot of your rviz setup to the question will also help debug.

I suspect this is a TF problem. There are a few things you can look at:

Is rivz subscribed to your marker topic?
In the rviz display for your markers, is the topic status OK?
Is the TF frame for your markers ("base_link") reachable from the fixed frame you have set in rviz?

You may want to try setting your fixed frame in rviz to "base_link".

Adding a screenshot of your rviz setup to the question will also help debug.

You're publishing to the "normals_marker_array" topic but subscribing to the "normals_marker" topic.

You're not calling ros::spin() or ros::spinOnce() in your publish loop to give the ROS library a chance to service the transmit and receive routines. Are you sure messages are being published properly?

Try rostopic echo normals_marker_array to see if messages are actually being published.