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I don't see any sort of launch or nodes in the rosaria stack that offer keyboard teleop.

Rosaria does subscribes to the "cmd_vel" topic, so if you want you can write a simple node that listens for keyboard input and translates it into geometry_msgs/Twist messages (http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html).

I personally have been using the p2os stack for a while and it also lacks such a node. I have been getting by using the erratic robot stack and its keyboard teleop launch file. You can certainly look there to find out what needs to happen in your own version or simply use it as is.