Husky mobile robot
To work with these tutorials you need to be comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials. The following link presents a complet guide on how to program the Husky robot.
The following link presents a technical presentation of Husky.
Gazebo is a physical simulation with ROS support but works very well without. Here is the explanation link to control the Husky on Gazebo.