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I managed to get the teleop demo to work by reducing the frequency of the left and right motors (in the robot.yaml file within the nxt_robot_sensor_car package). I changed them from 20.0 to 6.0. This could be because I was using Ubuntu within VMWare Player. I still find this surprising because I am running this on a beefy machine (Win7 Ultimate, Intel Quad Core, 3GB of RAM).
Recapping what I did so others can follow. In order to get the nxt_teleop demo to work, I had to invoke at least 3 processes:
In Terminal 1:
roscore
In Terminal 2:
roscd nxt_robot_sensor_car
roslaunch nxt_robot_sensor_car robot.launch
In Terminal 3:
roscd nxt_teleop
roslaunch teleop_keyboard.launch
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