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How to make rviz model follow joint states with MoveIt?

Hello everyone,

I have the following problem: I successfully configured moveit for my robot. Now I want my rviz visualization to follow the robot movement, hence when the robot moves, it shoult move as well.

What I do:

I have a joint_states topic on which the current joint states are published. Then I feed these into a robot_state_publisher calculating tf for my robot.

But it moveit/rviz seems not to care. I can plan and execute (send to controller) my movements from rviz but no matter what the joint states are, the visualization never moves.

So what am I missing? Is there something special I should have took care of?

Thank you for your time, Marcel