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To answer your first question about the missing turtle2 frame. How are you viewing the TF tree? Did you read section three which says the transforms may take a while before they're all being broadcast.

Your second question about looking up the world frame. To make one turtle follow another the location of the lead turtle in the world frame is not important because the cmd_vel topic which is used to control the chaser turtle is defined in the body frame of the chaser turtle. So the only information that is needed is the location of the lead turtle in the body frame of the chaser turtle.

Hope this makes sense.