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To me, it looks like you have an error either in the part of the code where you are publishing the transforms (i.e. copying pose data to the tf brodcaster), or (more likely) in the code that is computing turtle2 velocities from received tf data.

Did you copy/paste the tutorial code, or did you type it in by hand?

Btw. please indicate if you are following the C++ or the Python version of the tutorials.