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Has the turtlebot core been started? The follower is the application that runs on the turtlebot. The turtlebot core may need to be started:
roslaunch turtlebot_bringup minimal.launch
and you can verify that it is sending velocity commands by
rostopic echo cmd_vel
if you don't see cmd_vel, try:
rostopic list | grep cmd_vel
and retry the rostopic echo with the output from the above command.
Cheers, Devon