The following greedy algorithm is a 2-approximation for instances where the travel time of each road is the same in both directions. (Ignoring one-way streets shouldn't distort travel times too much.)
Choose the first center arbitrarily. For each subsequent center, choose the vertex farthest from the existing centers. Using the multiple-source extension of Dijkstra's algorithm (initialize the priority queue to contain all of the existing centers with distance 0), a good implementation running on contemporary hardware with parameters n=250,000 and k=20 I reckon should take at most a second or two.