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You can use a Pose Array

def talker():
    obj = get_poses()
    pub = rospy.Publisher('topic', PoseArray, queue_size=len(obj))
    rospy.init_node('pose_array')
    rate = rospy.Rate(60) # 10hz
    while not rospy.is_shutdown():
        Poses = PoseArray()
        Poses.header.frame_id = "/surface"
        Poses.header.stamp = rospy.Time.now()
        for i in range(len(obj)):
            Poses.poses.append(obj[i])
        pub.publish(Poses)
        rate.sleep()