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My suggestion would be to install the Turtlebot packages to see an example of how the Navigation Stack can be setup. In the turtlebot_bringup package they have the option to the set the base as the Create as well, which could be useful for you.

Specifically, look in the turtlebot_navigation package at the amcl_demo.launch and gmapping_demo.launch files to see how the nodes for amcl, gmapping, or move_base can be started. Also, if you look at the includes for the launch files and in the param folder you'll find examples for all the parameter settings for amcl, gmapping, and move_base.

You can follow the Turtlebot Navigation Tutorials for Navigation and Simulation for an example of how to use the above, and if you haven't already done so take a look at the Navigation Stack Tutorials as well.

Hope this helps.