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How to keep Pose Markers in RViz?

I publish a PoseStamped topic "pose" and display the pose in RViz using the display type "Pose" (with shape axes). However, I would like to keep the old poses in order to see the whole trajectory of rather than only the latest pose.

I know it is also possible to use visualization markers instead (is there a "axes" visualization marker type?) according to and use marker.action = visualization_msgs::Marker::ADD;.

But if this is possible directly in the RViz GUI, I would prefer this solution instead of implementing the markers.