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It sounds like your callback isn't getting called; either because you're not subscribing to the correct topic, or because nothing is being published.
I would start by making sure that the turtlebot driver is running before you start your node.
You can inspect the topic in question, to see if there are any publishers and subscribers, by running:
rostopic info /turtlebot_node/sensor_state
If the topic exists, you can confirm that messages are being published and view their contents with:
rostopic echo /turtlebot_node/sensor_state
If the topic doesn't exist, but the driver is running, you may have the wrong topic name. You can list available topics with:
rostopic list
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