moveit rviz cannot display executation from my own code or rviz command

Here is the rqtgraph for sevendofarmconfig.demo launch from book, master ros for robotics programming

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I search solution from google, find someone says he thinks topic /movegroup/fakecontrollerjointstates is ONLY published with one final joint state message, so rviz ONLY display the final joint state. Here is the link

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On book, ros-by-example V2, movement of execution of pi_robot can be visualized. I think this is because arbotix controller keeps updating /jointstate, so that rviz keeps updating the movement of pirobot. Am I right?

Here is the rqt_graph.

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How can I visualize the complete movement of execution of the simulated robot?