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I had the same problem Running Electric on Ubuntu 10.04 with an overlay workspace. The problem occured when I moved my ros workspace. Inspecting the system with roswtf or rosrun tf tf_monitor failed. My solution was to create a symlink from /etc/ros/setup.bash to <ros_workspace>/setup.bash Afterwards restart turtlebot service.
Explanation:
The turtlebot service uses the file in /etc for configuration. Which points to specific directories.
Content of /etc/ros/setup.bash coming from .../turtlebot_bringup/upstart/install.sh '. /opt/ros/electric/setup.bash; export ROS_PACKAGE_PATH=/home/turtlebot/ros:${ROS_PACKAGE_PATH}'
This thread helped me out: http://answers.ros.org/question/28020/difference-between-turtlebot_bringup-minimallaunch-and-turtlebot-service/
The install script in fuerte is somewhat more sophisticated but is from my point of view also not able to work with overlays.
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