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Hi!

First, i think that the package gmapping already does the localization for you, since gmapping is design to work with SLAM (Simulataneos localization and mapping), you can check this in the wiki http://wiki.ros.org/gmapping. If your robot is not being localized maybe you should check your tf tree, and make sure that there is a transformation between the frame /odom (the one where gmapping "publish" the localization information), and the base frame of your robot (by default should be /base_link and it should be connected, at the same time, to the other parts of your robot).

Anyway if you are searching for packages in ROS to perform the localization, the amcl package http://wiki.ros.org/amcl, is one option.

Hope this helps!