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turtlebot_folower doesn't work on 410c with kinect

jessie on 410c with kinetic version of ROS by following the instruction on wiki, kinect works with rqt_image_view, either depth or rgb raw image could be captured properly. But the bot won't move after running turtlebot_follower app, there is no eeror from the std output, only like this INFO] [1470897001.944838498]: Centroid at -0.110756 0.132475 0.521000 with 26297 points In addition, the bot works with teleop app with keyboard.