仕事で使えそうだなと思ったのでテスト。
Buildが通ること、Genymotionで動作することまでは確認済み。

まずは@layout/activity_mainから。

@layout/activity_main.xml

<android.support.v4.widget.DrawerLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:id="@+id/drawer_layout"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:fitsSystemWindows="true">

    <TextView
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="@string/app_name"/>


    <android.support.design.widget.NavigationView
        android:id="@+id/navigation"
        android:layout_width="wrap_content"
        android:layout_height="match_parent"
        android:layout_gravity="start"
        app:headerLayout="@layout/drawer_header"
        app:menu="@menu/navigation_item"
        />
</android.support.v4.widget.DrawerLayout>

ヘッダ部分は@layout/drawer_headerに書く。

@layout/drawer_hearder.xml

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:orientation="vertical" android:layout_width="match_parent"
    android:layout_height="200dp">

    <TextView
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="drawer_header"
        android:background="@android:color/darker_gray"
        android:textSize="24dp"/>

</LinearLayout>

drawer内のアイテムは@menu/navigation_itemに書く。

@menu/navigation_item.xml

<?xml version="1.0" encoding="utf-8"?>
<menu xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto">

    <item
        android:id="@+id/item1"
        android:title="item1"/>

    <item
        android:id="@+id/item2"
        android:title="item2" />


</menu>

Activityはこう。

MainActivity.java

package com.example.saori.testlibrary;

import android.support.design.widget.NavigationView;
import android.support.v4.widget.DrawerLayout;
import android.support.v7.app.ActionBarActivity;
import android.os.Bundle;
import android.util.Log;
import android.view.Menu;
import android.view.MenuItem;


public class MainActivity extends ActionBarActivity {

    private static final String TAG = new String("TEST");

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        DrawerLayout mDrawerLayout = (DrawerLayout) findViewById(R.id.drawer_layout);
        NavigationView mNavigationView = (NavigationView) findViewById(R.id.navigation);
        mNavigationView.setNavigationItemSelectedListener(new NavigationView.OnNavigationItemSelectedListener() {
            @Override
            public boolean onNavigationItemSelected(MenuItem menuItem) {

                switch (menuItem.getItemId()) {
                    case R.id.item1:
                        Log.d(TAG, "onItemSelected:" + menuItem);
                        break;
                    case R.id.item2:
                        Log.d(TAG, "onItemSelected:" + menuItem);
                        break;
                    default:
                        break;
                }
                return false;
            }
        });
    }

    @Override
    public boolean onCreateOptionsMenu(Menu menu) {
        // Inflate the menu; this adds items to the action bar if it is present.
        getMenuInflater().inflate(R.menu.menu_main, menu);
        return true;
    }

    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        // Handle action bar item clicks here. The action bar will
        // automatically handle clicks on the Home/Up button, so long
        // as you specify a parent activity in AndroidManifest.xml.
        int id = item.getItemId();

        //noinspection SimplifiableIfStatement
        if (id == R.id.action_settings) {
            return true;
        }

        return super.onOptionsItemSelected(item);
    }
}