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From my experience Gmapping without the gyro will give the same results as you mentioned. Turtlebot doesn't move around the map. I believe this is due to the fact it obviously needs the gyro data to localize it self properly . I assume you could use RXGraph to find where the missing data link in gmapping is and possibly write your own code to create data to determine your robots location but, if I were you I would just invest in the recommended gyro.