How to visualize a message of type sensor_msgs/PointCloud2[] in Rviz?

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As you're using a custom message, you can't use the built-in displays, as they don't work with your message, only with the standard message set.

I believe you have two options:

1. write a new RViz display plugin which can consume your custom message (possibly extending the current PointCloud2 display)
2. use an intermediate node to "unpack" your list of PointCloud2 into separate messages and then republish those

Option 2 would incur lots of overhead, but would allow the use of the built-in display plugin for PointCloud2.

Option 1 would require you to write your own RViz display plugin, which comes with its own form of overhead.