At the moment there is not, but we are planning to add this. It would work by exporting waypoints as Point shapefiles, with the Icon attribute set to one of the icons available in the IMC. Custom icons are also possible now, so we might include something that takes advantage of that. It won't be in the next release, however, but some time this year.
In the mean time you could do this yourself (with a bit of work). You would need to get your waypoints into a Point Shapefile, add the required attributes (consult IMC documentation), combine this with RM exported map shapefiles and build the map in the IMC.
Matt