Thanks for your reply
Today I had access to the pioneer, so im able to answer you just now.
Here's the rxgraph while running all necesary nodes.

in png:
http://ros-users.122217.n3.nabble.com/file/n2273634/screenshots.png 
in dot:
http://ros-users.122217.n3.nabble.com/file/n2273634/rviz_nav.dot
rviz_nav.dot 

and the output of "rostopic list" is the following

/aio
/amcl_pose
/battery_state
/cmd_motor_state
/cmd_vel
/diagnostics
/dio
/goal
/gripper_control
/gripper_state
/initialpose
/laser/parameter_descriptions
/laser/parameter_updates
/map
/map_metadata
/motor_state
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base/NavfnROS/NavfnROS_costmap/obstacles
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base/NavfnROS/NavfnROS_costmap/unknown_space
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/inflated_obstacles
/move_base/global_costmap/obstacles
/move_base/global_costmap/robot_footprint
/move_base/global_costmap/unknown_space
/move_base/goal
/move_base/local_costmap/inflated_obstacles
/move_base/local_costmap/obstacles
/move_base/local_costmap/robot_footprint
/move_base/local_costmap/unknown_space
/move_base/result
/move_base/status
/move_base_simple/goal
/odom
/particlecloud
/pose
/ptz_control
/ptz_state
/reset_time
/rosout
/rosout_agg
/scan
/sonar
/tf
/tf_message
/topic_name

I hope you can tell some more with this info.
Waiting for your answer. Thanks in advance.

Cristóbal
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