How to visualize articulation with fuerte

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I'm trying out the nice articulation package. However, the articulation_rviz_plugin does not exist anymore and most of the tutorials require the plugin. Having said that it's always useful to have a visualization. The manifest files state:

<!-- does not work in fuerte
<depend package="articulation_rviz_plugin"/>
-->

So, is there a way to visualize the results of the articulation package anyway, and if not, what is the best way to create a visualization by hand?