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Which robot/manipulator are you using? Provided that there is a driver available, you need a URDF of your robot to visualize it in RVIZ (http://wiki.ros.org/urdf).
You can use the robot_state_publisher (http://wiki.ros.org/robot_state_publisher) to track the joint positions of your robot.
For coordinate system transformation, you can use tf2 (http://wiki.ros.org/tf2), which is already available by using the previously mentioned packages. You can get the pose of a specific joint or tcp by looking up the Transformation in tf.
To control the robot through a GUI, you can use the joint_state_publisher_gui package (The joint_state_publisher with the argument use_gui worked for me as well, but it seems to be deprecated now).
Maybe this question is helpful for you.
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