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Hello there,
The main reference for all things Husky related is here: http://wiki.ros.org/Robots/Husky
Specifically, you want to look at this page: http://wiki.ros.org/husky_navigation/Tutorials/Husky%20Move%20Base%20Demo
Which is the first tutorial in Section 3.1 Navigation. That section should get you to doing mapping and navigation in simulation.
The source code for all the examples is also here: https://github.com/husky/husky
Specifically, the code from the move base example above is here: https://github.com/husky/husky/blob/indigo-devel/husky_navigation/launch/move_base.launch
Best wishes, Ilia B.