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You need to supply the port parameter in minimal.launch. See http://ros.org/wiki/turtlebot_node#Parameters

You'll have to change minimal.launch as follows:

FROM:

<!-- Turtlebot Driver -->
<node pkg="turtlebot_node" type="turtlebot_node.py" name="turtlebot_node" output="screen" respawn="true" args="--respawnable">
  <param name="bonus" value="false" />
  <param name="update_rate" value="30.0" />
</node>

TO:

<!-- Turtlebot Driver -->
<node pkg="turtlebot_node" type="turtlebot_node.py" name="turtlebot_node" output="screen" respawn="true" args="--respawnable">
  <param name="bonus" value="false" />
  <param name="update_rate" value="30.0" />
  <param name="port" value="/dev/irobot_create" />
</node>

The ROS wiki contains more documentation here if you want to read up on supplying parameters through launch files.