Hi Eitan,

In response to your question of whether I was publishing /initialpose, I am.
It looks like this:

header: 
  seq: 49665
  stamp: 
    secs: 1291167633
    nsecs: 17403000
  frame_id: /map
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]

In response to your suggestion of using just localization and the joystick
to tele-operate, I move the robot around, but I do not see any change in the
topic /amcl_pose. It stays at the same value as /initialpose (all zeros).

Hope this is of some diagnostic help.

Thanks
Shanker
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