I've just started using rerun and am trying out making a Marker-to-rerun standalone node (I don't think I've seen one elsewhere): https://github.com/lucasw/cpp-example-ros-bridge/blob/viz_markers/rerun_bridge/scripts/rerun_marker.py (so far it only converts a line strip, but the other primitives should be easy). I could convert to C++ later once I've gotten it mostly working in python- and it ought to go into the bridge?