Audio Configuration

[LucidOne]

Audio only works if the user is logged in.

http://www.freedesktop.org/wiki/Software/PulseAudio/Documentation/User/SystemWide
http://www.freedesktop.org/wiki/Software/PulseAudio/Documentation/User/WhatIsWrongWithSystemWide

FIX
Set PULSEAUDIO_SYSTEM_START=1 in /etc/default/pulseaudio
and add turtlebot to group pulse-access