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Visualize the navigation of robot in RVIZ?

I am developing a mobile robot. I have just created a basic program which moves the robot from one set of coordinates to another in a straight line. I publish the velocity of the robot in the /cmd_vel topic. I want to observe the effect on the robot of this program. So, I was thinking if it was possible to visualize the robot in RVIZ before I test it out in the real world. But, how to integrate RVIZ with my code so that when the program is run, I can see the robot moving in Rviz?

Very Urgent. If somebody could please help?