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First, read this:

http://wiki.ros.org/rviz/UserGuide

Are there any nav_msgs/Odometry messages being published? They would be providing the pose of your robot. If so, you can open rviz, and in the left panel, click "Add," and then select "Odometry." Next, fill in the topic with the topic name of your robot. You can see its poses as it moves through space. If you want it to open automatically, you'll have to first save your rviz configuration somewhere, and then add this to your launch file:

<node pkg="rviz" type="rviz" name="rviz" args="-d path/to/your/config/file"/>

If it's in your package, you can do this:

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find your_package)/config.rviz"/>