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On line #36 in gazebo_ros_create.cpp in the turtlebot_gazebo_plugins package, change "node_namespace" to "robotNamespace". IIRC (I can't find the thread I used originally), the robotNamespace parameter is automatically populated with the Gazebo -namespace argument, and that'll turn into a prefix to odom and cmd_vel.

I think that's all I had to do to fix this particular problem - we have an as-yet-unreleased branch of the TurtleBot simulator code which has been fully tested with this, but we have just been a little too busy to put together the patches.