My objective is to visualize detection data from a radar on Rviz. I have collected the low level(ADC) data and using Python script, I am able to extract the detections and plot in Python. I would like to plot the detections in Rviz as well.

I have created a publisher node and a custom message, and I see that the data is published successfully on the topic. The data contains two float array variables of size 5, one array provides the x location of the detections and the other array provides the corresponding y location, with radar as the origin.

Can someone please tell me how I can import this data into Rviz, I only need to visualize the x-y position? Do I have to use static transformation? if yes, how, can you please guide me? I am new to ROS.