The easiest way to view SVG files is in a web browser that has native
SVG support. Mozilla Firefox, Opera, Safari, Google Chrome, and
Microsoft Internet Explorer (version 9 onwards) all have native SVG
browser support.
The section "Necessary Viewer/Browser for the examples" at the bottom
of http://www.carto.net/papers/svg/samples/ has information
about SVG viewing software for various OS's.
Opera notes
The Opera viewer has automatic tooltips, which get data from the
"title" element. When viewing SVG files created by
RSVGTipsDevice, an extra tooltip will pop up after a short wait. To
enable or disable tooltip popups in Opera, go to Tools > Preferences
> Advanced > Browsing and toggle the "Show tooltips" option. (see http://www.opera.com/support/search/view/714/)