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ros::Publisher vel_pub = n.advertise<geometry_msgs::twist>("/turtlebot_node/cmd_vel", 1);

Check that the turtle is really named turtlebot_node and that its command topic is cmd_vel by doing a

$ rosnode list

this command will show you the list of active nodes. You should have something like


then do

$ rostopic list

this should give you something like


if you then do a

$ rostopic info /turtle1/cmd_vel

you should get something like

Type: geometry_msgs/Twist

Publishers: None

 * /turtle1

Also check that the turtle doesn't use turtlesim/Velocity messages (as was the case with Fuerte at least) instead of geometry_msgs/Twist.