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You can run that command from anywhere. The problem is that ROS can't find the package turtlebot_bringup. You need to make sure that you

install the package using apt-get or from source.
if you downloaded it from the source, put it in the src directory of your catkin workspace
go to the root of your catkin workspace and run either catkin_make or catkin build (which ever is recommended)
run source devel/setup.bash (again, from the root of your catkin workspace)

Now, you should be able to run that command.

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