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I have tried this once. I think you should be able to teleop the turtlebot quite easily. I have done that on the simulator. All simulators - gazebo, stage, etc - try to trick ROS into believing that the data has originated from real sensors. You should be able to do all this by following the TurtleBot tutorials exactly. However, there might arise small problems which you must be able to solve with little difficulty.
I think an empty_world will be of no help in doing anything. You need a wall for calibration. And lots of landmarks for SLAM. Search for .world files on the internet. I do not know where you can get one. But I am sure there will be a lot of world files for the simulator.
Good Luck!
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