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I had a similar issue and added some debugging code to rosnodejs to get a more descriptive error. In my case it was

Got incorrect message type [tf/tfMessage] expected [tf2_msgs/TFMessage]

So I suspect in your case the turtlebot3_core node might be publishing tf/tfMessage type messages, rather then tf2. If not that, then check the md5 checksum the two nodes expect the message to have. I think it's possible for them to be different if they have (very) different devel environments sourced for some reason.

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