Visualize robot true pose and estimated pose obtained from camera

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I am somewhat unfamiliar with RVIZ. I have a robot, with a simulated "true" position. I also have a simulated camera, which gets pose estimates of each link in the robot, expressed in the world frame.

I am already visualizing the robot in it's true position (feeding the known state values to tf2, and uploading the urdf on the robot_description parameter). What I would like to do is super-impose another visualization of the same robot, however this time, use the estimated poses which are obtained directly through the camera.

What is the best way of achieving this? Thanks!