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Try using the command rxgraph when your system is running to see what is subscribing and publishing in order to better diagnose the problem.
nxt_teleop should publish to cmd_vel which publishes to base_controller which publishes to joint_command
There are 2 tutorials online for Teleoperation, I found the nxt_teleop (http://www.ros.org/wiki/nxt_teleop) works, and I have not had success with nxt_assisted_teleop.
So I run roscore, a robot.launch file (which reads robot.yaml for parameters), and then I launch teleop_keyboard.launch from the directory .../stacks/nxt_apps/nxt_teleop and then use the arrow keys to drive the nxt.
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