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Hi Kushal,

1. You are on the right track, turtlebot_teleop is a ROS package that contains a launch file called keyboard_teleop.launch. Said launch file invokes a ROS node called turtlebot_teleop_keyboard that takes the input from the keyboard and outputs geometry/Twist messages to the topic cmd_vel_mux/input/teleop. Those Twist messages contain the linear and angular speed that the robot should follow. Then there is another node that subscribes to the same topic and actually moves the robot. The listening node is actually a nodelet that depends on the underlying hardware of your turtlebot.

2. I can not think of a simple example right now, but you can check out the navigation stack

I hope this helps