how to move Pioneer 3 AT with ROSARIA

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Hello, I need some help. I am trying to move a P3 AT with Rosaria. I have installed ROS groovy on Ubuntu 12.04 First of all i am starting roscore at the base machine. Then i am starting RosAria with

rosrun rosaria RosAria

then i am getting:

seminar@pioneer:~$ rosrun ROSARIA RosAria
[ INFO] [1381931112.785472031]: RosAria: using port: [/dev/ttyUSB0]
Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0.
Syncing 0
Syncing 1
Syncing 2
Connected to robot.
Name: Hagen_1931
Type: Pioneer
Subtype: p3at
ArConfig: Config version: 2.0
Loaded robot parameters from p3at.p
ArRobotConnector: Connecting to MTX batteries (if neccesary)...
ArRobotConnector: Connecting to MTX sonar (if neccesary)...
[ INFO] [1381931113.571203537]: Setting TicksMM from ROS Parameter: 1
[ INFO] [1381931113.578212915]: Setting DriftFactor from ROS Parameter: 0
[ INFO] [1381931113.585235919]: Setting RevCount from ROS Parameter: 16570
[ INFO] [1381931113.620352721]: RosAria: publishing new recharge state -1.
[ INFO] [1381931113.621532616]: RosAria: publishing new motors state 0.
[ INFO] [1381931113.664051599]: RosAria: publishing new motors state 1.

Now I want to move the robot. I have tried the command in another terminal rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' There is no error but he do not move. here whats rostopic list is saying.

rostopic list
/RosAria/battery_recharge_state
/RosAria/battery_state_of_charge
/RosAria/battery_voltage
/RosAria/bumper_state
/RosAria/cmd_vel
/RosAria/motors_state
/RosAria/parameter_descriptions
/RosAria/parameter_updates
/RosAria/pose
/RosAria/sonar
/rosout
/rosout_agg
/tf

I have tried also a little this code:

#include <ros/ros.h>
#include "geometry_msgs/Twist.h"
using geometry_msgs::Twist;
using namespace std;

const double TWIST_LINEAR = 0.5; //.5 m/s forward
const double TWIST_ANGULAR = 0; //0 rad/s 
int main(int argc, char **argv)
{

    ros::init(argc, argv, "test");
ros::NodeHandle n;

    ros::Publisher cmd_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 100);

    ros::Rate loop_rate(10);

    while (ros::ok())
    {
        geometry_msgs::Twist cmd_msg;
        cmd_msg.linear.x = TWIST_LINEAR;
        cmd_msg.angular.z = TWIST_ANGULAR;


        cmd_pub.publish(cmd_msg);

        ros::spinOnce();

        loop_rate.sleep();
    }


    return 0;
}

I just want to unterstand how I can move the Robot. I think I have installed ROSARIA correct and the local machine communicates with the base correct. Thank you very much. I would be very thankful for help.

Best Regards Arthur