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Help with ROS Navigation Stack Create2

I was wondering if anyone has had any experience running navigation (ROS Navigation Stack). I know that the base is fairly new, but I believe I have all of the applicable topics ready (/scan, /odom, /tf. /tf_static), but I am having trouble creating launch file to do all of these things to do SLAM and the navigation stack.

Also, does anyone know the roslaunch or rosrun command to start the navigation package to gain topics such as /move_base, /dwa_local_planner? I have done so before but have lost the command and am having a hard time finding it again.

I am using Ubuntu 14.04 with ROS indigo, any help is appreciated.