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You can install youbot_driver and its ros interface (on the youbot), using:

sudo apt-get install ros-hydro-youbot-driver
sudo apt-get install ros-hydro-youbot-driver-ros-interface

Then, in order to run the keyboard program, first you need youbot_driver running, which will listen and execute the twist commands on the youbot:

roslaunch youbot_driver_ros_interface youbot_driver.launch

And then (in a new terminal) the keyboard tele-operation program, which publishes those commands:

rosrun youbot_driver_ros_interface youbot_keyboard_teleop.py

It will then print on screen what keys you should press.