How do you make xyz coordinate system appear in your marker?

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You probably want to publish your trajectories as paths and use the Path display type in RViz to visualize them: http://wiki.ros.org/rviz/DisplayTypes...

On addition to the Path display mentioned by @severin, you can also use a Marker(Array) display and triplets of cylinder markers ( http://wiki.ros.org/rviz/DisplayTypes... ) to creade x-y-z axes, if that is what you want.

Also, it is pretty easy to create your own rviz display plugins that allow you to further customize how you want to visualize your trajectories: http://docs.ros.org/jade/api/rviz_plu...