I'm using ROS melodic in an Ubuntu 18.04.2 LTS.

I'm newbie with ROS and I want to learn how to use Navigation Stack. I'm reading the book Mastering ROS for Robotics Programming - Second Edition, and it said that, if I want to use Navigation Stack I need to use vision or laser sensors to build the map of the environment.

My problem is that I need to build the map using odometry (it's something that I have to do in my robotic's subject at the university). I will use a bumper to detects when robot hits a wall or an obstacle.

Can I use navigation stack with odometry instead of vision or laser sensors?