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I was able to make it work by following the suggestions given by DavidN.

roscore
rosparam set use_sim_time true
roslaunch husky_viz view_robot.launch
roslaunch husky_navigation gmapping_demo.launch 
rosbag play --clock file.bag

The bag file should also include the transformation the base_link and the laser sensor. The last command also launches move_base. I'm able to build the map, but I can't set a navigation goal inside it.

Anyway, the topic was about map building, so I will have to open another question.

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