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Assuming you are using Hydro sources, I commited a fix for the turtlebot teleop on monday, so a git pull on turtlebot_simulator should fix it.

Kobuki keyop also should work if you have all the latest code. The "could not connect" warning appears because before the enable/disable commands where not simulated on Gazebo, but they are now.

Please also ensure you use the latest Gazebo and SDF versions.

If you don't wont to mangle with code, all these changes will be released together with the official Hydro release.

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