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The tutorial you are looking for is this one for using Baxter with MoveIt. Follow the simulation tutorial to get Baxter going in Gazebo, then follow the above tutorial, starting from where it says "In another RSDK terminal session, Launch the rviz MoveIt! plugin".

In general, any MoveIt-enabled robot will have a package called something like baxter_moveit_config. This package will contain launch files for starting the MoveIt interfaces, the rviz-based GUI tool, etc.