Navigation with real robot

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Hi,

I am trying to move from stage simulation to real robot. In simulation all things were working quite good, but when I replaced stage_ros node with the robot package, it failed. I want to use Lego Mindstorms NXT 2 robot. I simulated it in stage without laser, using only odometry for localisation (I used fake_localisation node). You can see the difference in graphs. Here is the simulation graph:

And here is the connection to real robot:

As you can see /map_server lost connection to move_base, there are no move_base/action_topics, also /base_pose_ground_truth became hidden, because it connects only to fake_localisation. Goal_giver is the same as listengoal node, it is for sending coordinates of goal to move_base.

Does anyone have some ideas how to fix that?

Update

I got some results when I launched the simulation together with my real robot package. The tf errors were eliminated, and the planning worked. The problem remained that move_base was thinking that robot in stage_ros was my real robot, and it was trying to move it. Of course it did not move, as it was not receiving cmd_vel messages, but the real robot was trying to implement move_base commands. I tried to solve this localization problem, but the only thing I could do is to retranslate messages from /gripper/cmd_vel to /cmd_vel. Here is the graph:

The robot really seemed to be moving, but it works awful. I understand why, of course. I should remove simulation part and set up normal localization package. But now I do not know what package should I use. Fake_localization, as I read, is suitable only for simulation, and amcl needs laser for work. What package can I use for localization only with odometry?