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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.