If you would like to do more than just teleoperate the robot you can bring up move base and send it position commands.

Launch Move Base

roslaunch turtlebot_navigation move_base_turtlebot.launch

Send a command

Command line

You can modify the frame_id and position and orientation of the goals however you want.

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{ header: { frame_\
id: "odom" }, pose: { position: { x: 0.25, y: 0 }, orientation: { x: 0, y: 0, z: 0, w\
: 1 } } }'

In rviz

See the Navigation Stack with rviz tutorial.