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How to add a dynamic visual marker in gazebo?

I have a regular robot model in gazebo and i'd like to display some forces applied on a link for visualization and validation purposes. What would be the best way to do this?

I'm looking for something that would allow me to display a vector (coming from a ros topic) without interacting with the rest of the sim. Do I have to use a cylinder object? if so, how do I modify it dynamically?

I run gazebo 1.5 distributed with Ros-groovy in linux 12.04 lts.