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There are a number of tutorials on the navigation stack wiki that discuss how to set up the navigation stack.

I would have a look at the RobotSetup tutorial, and proceed as follows:

• Set up AMCL, run it, and drive your robot around manually on your map to make sure that it localizes well
• (optional) Create the costmap configurations and run the costmap node standalone to make sure that the costmap shows the sensor data that you expect and updates appropriately
• Set up move_base with the costmap configuration, global planner configuration and local planner configuration for your robot
• Tune move_base so that it drives well