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First of all you should __not__ use turtlebot_bringup minimal.launch. That launcher is for running the real robot. The Gazebo plugins for TurtleBot are basically reproducing the same functionalities (not everything is implemented though).

What does Gazebo's real time factor say? Maybe the simulation is running really slowly on your machine (my "Real Time Factor" is at 1.0).

Note that turtlebot_teleop's keyboard_teleop requires you to keep the buttons pressed. Please also try roslaunch kobuki_keyop keyop.launch.

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