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In theory it should be possible, if you assume your world is basically 2D then you could project on the xy plane your ranges using your attitude estimation. That gives you 3 points you could use in some of the old slam packages such as gmapping or karto. I would also use robot_localization to fuse your wheel odometry and imu data.

In practice... I'm not sure how good this solution will be except in the most simple motions and environments.