Hello all,
Repeating same question as i haven't got satisfactory answer from my own 
study.
I would like to know some basic difference between stage and rviz through 
following questions:-
1. If we my navigation stack is set so as to visualize and simulate then 
Can we replace stage by rviz ? 
2. Can we have amcl, map, costmap2d - Global and Local and planner 
algorithms in place and see robot reactions in rviz?
3. Can we totally eliminate stage from use?
any  help??
thanks,
- Prasad