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I guess you execute rosrun pr2_teleop teleop_pr2_keyboard, right?
Are you sure you have focus on the terminal where the teleop_pr2_keyboard node is running? Otherwise, the teleop doesn't catch the key presses.
Otherwise, it most probably is a problem with the topic connections.
You can use rosrun rqt_graph rqt_graph to visualize all nodes and topics.
Or, you can use rosnode info <TELEOPNODE> (replace <TELEOPNODE> with the node name of your teleop, probably pr2_base_keyboard) to see which topics this node has. And you can do the same with the node taking in the commands (don't know which one this is in your case).
Also, do a rostopic echo /cmd_vel to see any commands on the (default) topic.
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