Hi Gorka, 
which nodes are you using? could you report the output of "rosnode list"?

I think that your problem could be an error by the map server node: it seems
like the robot's pose is correct in stage world, but not in the map server,
like as your robot's pose is out of the map that the map_server node
publish. Maybe you should check the map_server's arguments (or the pose and
size3 vector in stage .world file)

Enea Scioni
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