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If your node "foo" is publishing on topic "bar", having a "rostopic echo bar" should show what data you are publishing from "foo". If you want two nodes to have a bidirectional connection, you have to connect "node1" to "node2" through topic "bar1" and then "node2" to "node1" through "bar2". Think of topics like input or output of nodes. input with the same name as output will communicate. In the node that have to listen to a certain topic, you have to "subscribe" to this topic. If you want a node to send information from "bar1" output topic to another node with "bar3" input topic, you have to remap to input from the second node to connect to "bar1".
You can do "rosnode info turtlebot_teleop" or "rostopic llist" when the nodes are running to know which topics are available.
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