MoveIt! provides a plugin for RViz which allows it to create new planning scenes where robot works, generate motion plans, add new objects, visualize the planning output and can directly interact with the visualized robot.
The MoveIt! configuration package consists of configuration files and launch files to start motion planning in RViz. There is a demo launch file in the package to explore all the functionalities of this package.
Following is the command to invoke the demo launch file:
$ roslaunch seven_dof_arm_config demo.launch
If everything works fine, we will get the following screen of RViz being loaded with the
MotionPlanning plugin provided by MoveIt!: