Here's one solution that is pretty much unrelated to graph theory. Not sure if it's the solution intended by the book author.
The rook must move along either all verticals or all horizontals. (Not necessarily entire verticals and horizontals, just some interval on each one). Indeed, assume that there is a horizontal that the rook didn't move along; then it moved through each one of its squares along the corresponding vertical.
Assume w.l.o.g. that it moved along all verticals. It must enter each vertical except the first one and exit each vertical except the last one. Each entry and exit is a turn. Thus there are at least 14 turns, and at least 15 moves.