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I found the answer to this problem already.

In the sensors_rgbd.yaml file, there's one important item missing that allows the sensor data to be transformed by move_group to be used in RViz. You have to add the line:

sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

inside the sensor information, I put it right after:

point_cloud_topic: /head_mount_kinect/depth_registered/points

so far as I understood, this tells move_group which plugin it should use to transform/understand the data from the sensor.

I hope this helps anyone that has the same problem I had!

Have a great day,
Tiago Pimentel