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You don't need to calibrate the simulation (nor can you, in fact).

To view the output of the simulation, you can use rviz. I recommend:

rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg

(taken from here)

Regarding driving the simulation - can you echo /cmd_vel when you're running keyboard_teleop and verify that it's publishing the right data?

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