Start the Ubuntu side and then the Windows side.
Open a new terminal and run the following command:
$ roslaunch sigverse_turtlebot2 teleop_key.launch
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot2/Turtlebot2Teleop(.unity)] scene with reference to here.
TurtleBot2 moves when you perform keyboard operations on the teleop_key.launch terminal.
Moving around: u i o j k l m , . q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% space key, k : stop
If you want to finish, stop the Unity side and then the ROS side.
Unity side(The details may differ from the latest version)
Reference Video