AUTHORIZATION_FAILURE error while publishing messages from Java Client

Hi,

I started testing our Java Client with AWS IoT using MQTT Protocol. I read some documents, finished few hours of training sessions before attempting the POC.
So far what i have achieved is: CONNECT, SUBSCRIBE (i get SUBACK), PING.
When i try publishing messages, i am getting AUTHORIZATION_FAILURE failure.
I don't think that the error is due to policy settings or certificates. Because, i am able to connect, subscribe, receive messages sent through AWS IoT Test Console.
No other details in logs to debug further.
Here are my policy settings:
{
"Version": "2012-10-17",
"Statement": [
{
"Effect": "Allow",
"Action": "iot:Connect",
"Resource": "arn:aws:iot:us-west-2:XXXXXXXXXXXX:client/${iot:ClientId}"
},
{
"Effect": "Allow",
"Action": "iot:Subscribe",
"Resource": "arn:aws:iot:us-west-2:XXXXXXXXXXXX:topicfilter/java-client"
},
{
"Effect": "Allow",
"Action": "iot:Receive",
"Resource": "arn:aws:iot:us-west-2:XXXXXXXXXXXX:topic/java-client"
},
{
"Effect": "Allow",
"Action": "iot:Publish",
"Resource": "arn:aws:iot:us-west-2:XXXXXXXXXXXX:topic/home-devices/router"
}
]
}

The policy is attached to the certificate that i am using to connect to AWS IoT.

Other details if it helps to answer my question.
Protocol: MQTT
Payload format: Binary (Google Protocol Buffers)
Error fields:
details Authorization Failure
eventType Publish-In
logLevel ERROR
protocol MQTT
reason AUTHORIZATION_FAILURE
status Failure

Note: I have not set any rules. Is it mandatory to set rules to consume MQTT messages in binary format and Republish the same message to other topic?

Thanks,
Mahesh