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It won't do Z, but Hector mapping will allow you to map X,Y without encoders and the laser-scan-matcher can generate ODOM using laser scan.

But if your motors do not have any feedback, you need to really run the robot very slowly as the lidar is relatively slow and you'll be using the lidar essentially as the feedback for your motor control. I trust the motors have very steep gearing.

Do your self a favor and spend a few days going through the tutorials carefully. In the end it will save you a lot of time.