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In order to use gmapping, you have to generate an odometry estimate by integrating your encoder and/or inertial measurements, and publish the estimate as a TF transform from base_link --> odom. See my answer on another question for more details about how particle filter SLAM algorithms like gmapping work:

http://answers.ros.org/question/227425/why-gmapping-package-requires-the-base_link-odom-tf/?answer=228259#post-id-228259

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