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SOLVED: I forget to add the next include:

#define USE_USBCON

It was solved in the teensy forum, thank you to Theremingenieur user: https://forum.pjrc.com/threads/52928-rosserial-bluetooth-teensy-problem

The modified Hello World sample:

/*
 * rosserial Publisher Example
 * Prints "hello world!"
 */

// Use the following line if you have a Leonardo or MKR1000

#define USE_USBCON

#include <ros.h>
#include <std_msgs/String.h>

//ros::NodeHandle nh;
class NewHardware : public ArduinoHardware
{
  public:
  NewHardware():ArduinoHardware(&Serial1, 57600){};
};
ros::NodeHandle_<NewHardware>  nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
  nh.initNode();
  nh.advertise(chatter);
}

void loop()
{
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  delay(1000);
}

SOLVED: I forget to add the next include:

#define USE_USBCON

It was solved in the teensy forum, thank you to Theremingenieur user: https://forum.pjrc.com/threads/52928-rosserial-bluetooth-teensy-problem

The modified Hello World sample:

/*
 * rosserial Publisher Example
 * Prints "hello world!"
 */

// Use the following line if you have a Leonardo or MKR1000

#include <ros.h>
#include <std_msgs/String.h>

//ros::NodeHandle nh;
class NewHardware : public ArduinoHardware
{
  public:
  NewHardware():ArduinoHardware(&Serial1, 57600){};
};
ros::NodeHandle_<NewHardware>  nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
  nh.initNode();
  nh.advertise(chatter);
}

void loop()
{
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  delay(1000);
}