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Honestly I never tried to use the navigation stack without a map, but I'm pretty sure it isn't possible. Moreover, reading the first line of the description of the tutorial ("The Navigation Stack serves to drive a mobile base from one location to another while safely avoiding obstacles.") makes me think so. Also in the pre-requisites is written "This tutorial assumes basic knowledge of how to bring up and configure the navigation stack.".
Take also in consideration that independently from the move_base planner, without a map and a sensor used for localization, usually any planner wouldn't work much well using only the odometry of the robot. What sensor do you have on your robot?
What I suggest you to do is to look at this tutorial and in general to all other tutorials of the navigation stack.
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