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Hey,

I am not to sure if I understood your question correctly, but I'll give it a shot:

What I guess you are seeing is, that when you publish your own joint-state, Rviz displays this change until it gets a new message from the default JointStatePublisher. In the demo.launch from MoveIt, there is a line starting the jointstatepublisher.

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
  </node>

Switch the param use_gui to true, and you'll get a little window, where you can set your joint states.

Also, it might be that you have your understanding of the MoveIt pipeline wrong. You are supposed to write your own joint_state_publisher which represents the current state of the robot. The fake one is only to show, that the moveit part works. It won't react to any plans and execution requests.

If you have further questions, just ask.

Cheers,

Rabe