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Although I did not seem to find a permanent solution to the downloaded demo not displaying interactive markers, I did however find an alternative way to work around it. Simply following the instructions of the next step in the tutorials, the setup assistant tutorial (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html), will ask you to delete the panda demo folder and you will replace it yourself with a new panda which you create yourself. After this I found that interactive markers were now displaying on the new panda so I could go back and explore the previous tutorial.

I don't have an ideal fix to this, nor do I have a concrete answer as to why the demo panda does not display it (I suspect it to be linked with the end effector of the panda not being properly configured) but hopefully this will allow anyone working with moveit for the first time to continue with the tutorials.