fake_localization tutorial not working in Groovy

edit

I think either PR2 simulator tutorial is wrong or fake_localization is broken http://www.ros.org/wiki/pr2_simulator/Tutorials/TeleopBaseControllerPR2InSimulation (Link)

I bring up PR2 with

roslaunch pr2_gazebo pr2_emptyworld.launch

I verify pr2 controller is up by

roslaunch pr2_teleop teleop_keyboard.launch

And then try to run fake_localization

rosrun fake_localization fake_localization

but it gives

[WARN] [1358454895.474588813, 112.908000000]: Message from [unknown] has a non-fully-qualified frame_id [odom]. Resolved locally to [/odom].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1358454902.814434929, 127.908000000]: MessageFilter [target=/base_link ]: Dropped 100.00% of messages so far. Please turn the [ros.fake_localization.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1358454935.913767173, 187.923000000]: MessageFilter [target=/base_link ]: Dropped 100.00% of messages so far. Please turn the [ros.fake_localization.message_notifier] rosconsole logger to DEBUG for more information.
[DEBUG] [1358454937.289245561, 190.536000000]: MessageFilter [target=/base_link ]: Removed oldest message because buffer is full, count now 100 (frame_id=odom, stamp=189.477000)
[DEBUG] [1358454937.289406252, 190.536000000]: MessageFilter [target=/base_link ]: Added message in frame odom at time 190.487, count now 100
[DEBUG] [1358454937.289897638, 190.536000000]: MessageFilter [target=/base_link ]: Removed oldest message because buffer is full, count now 100 (frame_id=odom, stamp=189.487000)
[DEBUG] [1358454937.290004351, 190.536000000]: MessageFilter [target=/base_link ]: Added message in frame odom at time 190.497, count now 100
[DEBUG] [1358454937.290251633, 190.536000000]: MessageFilter [target=/base_link ]: Removed oldest message because buffer is full, count now 100 (frame_id=odom, stamp=189.497000)
[DEBUG] [1358454937.290306663, 190.536000000]: MessageFilter [target=/base_link ]: Added message in frame odom at time 190.507, count now 100

What am I doing wrong? Why is this tutorial not working?