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Hi with a kinect you can also use this stack from ASLab.

https://github.com/ethz-asl/ros-mapping
http://www.ros.org/wiki/modular_cloud_matcher
http://www.ros.org/wiki/ethzasl_mapping
http://youtu.be/McxpJGOZTPs

This will give you a nice odometry(6D pose) information using only the kinect. You can then send the odometry tf and a fake laser scan(assuming with kinect) to the gmapping server.

If you have a proper laser then as maruchi said you can use the hector* stacks.

-opcode

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