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Lots of delay when trying to teleop with a Turtlebot

I've got a home made turtlebot. It's using a Create with an old laptop (2GHz Pentium). I'm trying to run the SLAM mapping tutorial which seems to be working fine but I run into a ton of lag while trying to drive around using the keyboard teleop. The robot will be unresponsive for several seconds to a minuet.

What I do is ssh from the workstation to the turtlebot laptop. I run the gmapping app in the ssh terminal. Then I start RViz on the workstation. In another terminal I ssh to the turtlebot and run the keyboard teleop.