That's pretty easy view to create. The only trick is to wrap Window with NavigationWindow as it was suggested in error you mentioned. NavBar buttons are created and attached in controller. As far as I remember, you can't create them in xml file. However by using $.UI.create() method you make sure that all classes and styles will apply to them, too.
index.html:
<Alloy>
<NavigationWindow>
<Window title="Contacts" id="contacts">
<SearchBar hintText="Search" />
<TableView />
</Window>
</NavigationWindow>
</Alloy>
index.js:
$.contacts.leftNavButton = $.UI.create('Button', { title: 'Groups' });
$.contacts.rightNavButton = $.UI.create('Button', { systemButton: Ti.UI.iPhone.SystemButton.ADD });
$.index.open();
index.tss:
"Window": {
backgroundColor: "white",
layout: "vertical",
},