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You may try Hector Slam ( http://wiki.ros.org/hector_slam ) there you do not need the amcl. and gmapper is real SLAM you can navigate in the just recorded map, you do it during exploration. you save the map and use amcl because it need les resurces. you also do not distroy the map if there where a localisation error. then you have always the error with lifetime slam that you walls float away.