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I noticed that in the turtlebot_description/urdf/turtlebot_body.urdf.xacro file they had commented out this:

<inertial>
  <mass value="0.0001" />
  <origin xyz="0 0 0" />
  <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0" 
          izz="0.0001" />
</inertial>

After removing the commented out part, the turtlebot was spawned correctly and all of the topics seem to be published as well.

The only issue is that while running you will be bombarded by this warning:

Warning [RaySensor.cc:206] ranges not constructed yet (zero sized)

But other than that it seems to run correctly.