How was Boba Fett contacted by Darth Vader?

Boba Fett was above the planet, waiting for Han Solo to take off during the Battle of Hoth. He was there long before the Imperials arrived, and set the Rebel's sensors off. When Solo took off in the Falcon, Fett tried to get to him, but the TIE fighter attacking it got in his way.

Soon after that, Vader called for the bounties hunters and Fett headed for the ship. More.

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