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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