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If anyone else comes across this issue, you can get more debug info with the following steps:

1. In the Displays panel of RViz, click Add > By topic > select InteractiveMarkers under /rviz_moveit_motion_planning_display
2. In my case I see the error "Error getting time of latest transform between /world and world: (error code: 1)" for this interactive marker in the Displays panel.

This helped me debug that my issue is related to the robot being in a namespace. (A quick fix in this case is to manually publish the transform with "rosrun tf static_transform_publisher 0 0 0 0 0 0 1 /world /{robot_namespace}/world 10")