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Hi, I ran into the exact same problem and solved it by changing the launch file as follows:

<launch>
    <include file="$(find husky_gazebo)/launch/husky_empty_world.launch">
        <arg name="world_name" value="/usr/share/gazebo-9/worlds/robocup14_spl_field.world"/>
    </include>
</launch>

I think the issue was caused by the fact that worlds/robocup14_spl_field.world is not located under husky_gazebo, but rather under /usr/share/gazebo-9.

I hope it applies to your situation too.

PS: Attending ETHZ ROS Course Programming for Robotics? ;)