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What do you mean with "publish new joint state values"? The joint_states array should just represent Nao's current state from the sensors. Use nao_controller (e.g. with the topic joint_angles or the action goals) to execute joint trajectories. If nao_sensors in nao_driver is running and you execute rostopic echo joint_states and rostopic hz joint_states, what do you see?
If you afterwards start the launch file in nao_description, does the robot look "correct" in RViz? Looking out for errors in rxconsole is also a good starting point.
Sometimes NaoQI or its python API hang and I've seen zeroes in the IMU, but never in the joint state. This problem usually went away after restarting NaoQI on the robot or completely rebooting it.
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