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Did you make sure that you don't have the fake jointstatepublisher running? Usually it get's launched in the headless mode automatically via the demo.launch. If you have two authorities (the fake one and the real one) running at the same time, you'll see the robot "flicker" or "jump around" in Rviz, since the messages are coming in at the same time.

If that's not the case, I'd start checking each intermediate step:

rostopic echo /jointstates
# Are the jointstates changing when you move the robot?
# Are the tf's changing?

If that's still the case, make sure that you are listening to the correct planning scene in rviz (usually move_group/monitored_planning_scene). Also, you can display the current transforms in Rviz and see if they are changing/moving.

If everything of this works out, then, uhm, maybe somethings wrong with your urdf? Just report the different results, and I'll have a look.