Hi Enea Scioni,
Thanks for so detailed answer: I followed your instruction and just
experimented again, following are the findings:
RosAria:
First RosAria is a node which enables us to move Real Robot (poineer P3DX),
It subscribes a topic /cmd_vel with geometry_msgs/Twist message. 
some code from RosAria:
{
  pos = robot->getPose();
  tf::poseTFToMsg(tf::Pose(tf::Quaternion(pos.getTh()*M_PI/180, 0, 0),
tf::Vector3(pos.getX(), pos.getY(), 0)),     
  position.pose.pose);
  position.twist.twist.linear.x = robot->getVel();
  position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
  position.header.frame_id = "odom";
  position.header.stamp = ros::Time::now();
  pose_pub.publish(position);
  ROS_INFO("rcv: %f %f %f p.x: %f p.y: %f", position.header.stamp.toSec(),
(double) position.twist.twist.linear.x,    
  (double)   position.twist.twist.angular.z, (double) pos.getX(), (double)
pos.getY());
  ros::Duration(1e-3).sleep();
    tf::Quaternion laserQ;
    laserQ.setRPY(0.0, 0.0, pos.getTh());
    tf::Transform txLaser =  tf::Transform(laserQ,tf::Point(0.05, 0.0,
0.15));
    tf.sendTransform(tf::StampedTransform(txLaser, ros::Time::now(),
"base_link", "laser"));//"base_laser_link"));
    tf::Transform txIdentity(tf::createIdentityQuaternion(),
                             tf::Point(0.0, 0.0, 0.0));
    tf.sendTransform(tf::StampedTransform(txIdentity,
                                          ros::Time::now(),
                                          "base_footprint",
                                          "base_link"));
    tf::Quaternion odomQ;
     tf::quaternionMsgToTF(position.pose.pose.orientation, odomQ);
    tf::Transform txOdom(odomQ, tf::Point((double) pos.getX()/1000.0,
(double) pos.getY()/1000.0, pos.getTh()/*0.0*/));
    tf.sendTransform(tf::StampedTransform(txOdom, ros::Time::now() ,"odom",
"base_footprint"));
   clockMsg.clock = ros::Time::now();
   clock_pub.publish(clockMsg);
}
I run this node using [$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0] then
this node starts and subscribes the topic /cmd_vel. Then I run my own made
node [$rosrun ROSARIA rob_key] which publishes geometry_msgs/Twist taking
commands by arrow keys of keyboard.

Frames:
I checked frames by [$rosrun tf view_frames],  the frame's sequence is
correct and quite according to how you said, i.e.
with names and sequence : /map->/odom->/base_footprint->base_link->/laser  
shown in frames.pdf.
map->odom : Broadcaster: /amcl , Average rate: 4.890 Hz, Most recent
transform: 0.155 sec old, Buffer length: 4.908 sec
odom->base_footprnt:Broadcaster:/RosAria,Average rate:10.204 Hz,Most recent
transform: 0.063 sec old,Buffer length: 4.900 sec
base_footprnt->base_link:same as above for odom->base_footprint
base_link->laser:same as above for base_footprint-> base_link

Sequence of the nodes I run:
1.$roscore
2.$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0
3.$rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB1 _baud:=38400
get message DataStream Received.
4.$roslaunch amcl_diff.launch  from amcl/axamples> directory.
get message
[ WARN] [1283264052.917100260]: Request for map failed; trying again...
[ WARN] [1283264053.418347837]: Request for map failed; trying again...
[ WARN] [1283264053.926562217]: Request for map failed; trying again...
[ INFO] [1283264054.545362657]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1283264054.757590054]: map returned
[ INFO] [1283264054.766719775]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1283264055.174108077]: Done initializing likelihood field model.
[ WARN] [1283264055.247433315]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
will likely not work in multi-robot systems.  This message will only print
once.
[ WARN] [1283264093.896718060]: Failed to transform initial pose in time
(You requested a transform that is 0.065 miliseconds in the past, 
but the most recent transform in the tf buffer is 95.781 miliseconds old.
 When trying to transform between /map and /base_link.
)
[ INFO] [1283264093.896820238]: Setting pose (1283264093.896801): 0.011
-0.010 0.000

5.$rosrun map_server map_server map.yaml
get message:
[ INFO] [1283264053.796235254]: Loading map from image "./map.pgm"
[ INFO] [1283264054.084837439]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1283264054.449655659]: Sending map

6.$rosrun rviz rviz
get message:
[ INFO] [1283264081.753891609]: Loading general config from
[/home/safdar/.rviz/config]
[ INFO] [1283264081.754240117]: Loading display config from
[/home/safdar/.rviz/display_config]
[ INFO] [1283264093.894115354]: Setting pose: 0.011 -0.010 0.000
[frame=/map]

AND
map.yaml contains:
[image: map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
#origin: [0.000000, 0.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196]

THEN I MOVE ROBOT:
Moving Robot almost 1 meter in forward direction:
Starting till ending 1 meter motion of Robot ,I saved data from topics
/odom, /scan, /amcl_pose and /particlecloud as given below:

=====================================
TOPIC /amcl_pose:
---
header: 
  seq: 2
  stamp: 
    secs: 1283264215
    nsecs: 511374608
  frame_id: map
pose: 
  pose: 
    position: 
      x: 0.247589351646
      y: -0.014679411528
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.00336333731185
      w: 0.999994343965
  covariance: [0.29763234232004948, 0.0025907719733360285, 0.0, 0.0, 0.0,
0.0, 0.0025907719733360285, 0.24746057733576973, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.083540103401309157, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 3
  stamp: 
    secs: 1283264216
    nsecs: 151775071
  frame_id: map
pose: 
  pose: 
    position: 
      x: 0.497609492943
      y: 0.0093983678752
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.00909101066835
      w: 0.999958675909
  covariance: [0.33799146489379533, 0.010049943074077266, 0.0, 0.0, 0.0,
0.0, 0.010049943074077266, 0.27290467320518264, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.086906835608134989, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 4
  stamp: 
    secs: 1283264216
    nsecs: 579240571
  frame_id: map
pose: 
  pose: 
    position: 
      x: 0.675671959326
      y: 0.0277861157726
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.012026257738
      w: 0.999927681947
  covariance: [0.36283060340373735, 0.014118143333576845, 0.0, 0.0, 0.0,
0.0, 0.014118143333576845, 0.30805645206476079, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.099034657680711305, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 5
  stamp: 
    secs: 1283264217
    nsecs: 219611415
  frame_id: map
pose: 
  pose: 
    position: 
      x: 0.843883973475
      y: 0.047129095818
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0122639546581
      w: 0.99992479488
  covariance: [0.39540569106077028, 0.0092167690246466108, 0.0, 0.0, 0.0,
0.0, 0.0092167690246466108, 0.36344868131336877, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.11715264662452711, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
=========================
TOPIC /odom:
header: 
  seq: 1945
  stamp: 
    secs: 1283264186
    nsecs: 134936757
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 1946
  stamp: 
    secs: 1283264186
    nsecs: 234943671
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 1947
  stamp: 
    secs: 1283264186
    nsecs: 334954766
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
   .
   .
   .
header: 
  seq: 2365
  stamp: 
    secs: 1283264228
    nsecs: 150935090
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 1151.0
      y: -1.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -4.96052408606e-16
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2366
  stamp: 
    secs: 1283264228
    nsecs: 250972872
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 1151.0
      y: -1.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -4.96052408606e-16
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2367
  stamp: 
    secs: 1283264228
    nsecs: 350933752
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 1151.0
      y: -1.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -4.96052408606e-16
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2368
  stamp: 
    secs: 1283264228
    nsecs: 452759196
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 1151.0
      y: -1.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -4.96052408606e-16
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2369
  stamp: 
    secs: 1283264228
    nsecs: 551957980
  frame_id: odom
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 1151.0
      y: -1.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -4.96052408606e-16
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

===============================
TOPIC /particleclouds
header: 
  seq: 2
  stamp: 
    secs: 1283264215
    nsecs: 756479577
  frame_id: map
poses: 
  - 
    position: 
      x: 0.276259489987
      y: 0.59703817945
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.149056594966
      w: 0.988828666401
  - 
    position: 
      x: 0.740718253068
      y: -0.089673382954
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.136820644404
      w: 0.990595836487
  - 
    position: 
      x: -0.235402031999
      y: -0.640814719739
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.0373773127287
      w: 0.999301224103
  - 
    position: 
      x: 0.195227750385
      y: -0.533825584407
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.253166567161
      w: 0.967422704546
  - 
    position: 
      x: 1.06535852562
      y: -0.111224649481
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.134672195018
      w: 0.990890205769
  - 
    position: 
      x: 0.509493294264
      y: 0.382609565205
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.200947384627
      w: 0.979602035835
  - 
    position: 
      x: 0.106648801578
      y: -0.0610606053734
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.261785029675
      w: 0.965126208451
  - 
    position: 
      x: 0.738234944648
      y: 0.278477991024
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.0384439240972
      w: 0.999260759111
  - 
    position: 
      x: -0.297492221037
      y: 0.558259590591
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.30049924452
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Do you see anything problematic for localization?
Because I think localization is problematic that's why next step move_base
for path_planning does not work.
I am sorry that you had to read such a long message.
Please any idea?

with best regards,
safdar

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