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I want to make a map that is a heatmap of the readings

GMapping should give you your current pose. You can then take these temperature readings (or even better, heatmap images) and transform them to your current pose and just accumulate them.

A temperature sensor will measure the reading at a point whereas a heatmap will tell you the temperature of every point in that area. So I don't know how you would create a heatmap using just a sensor. You will need an array of sensors and stack them together or scan every point in your area with the same temperature sensor and transform/aggregate them into a heat map.

I want to make a map that is a heatmap of the readings

GMapping should give you your current pose. You can then take these temperature readings (or even better, heatmap images) and transform them to your current pose and just accumulate ~~them.~~them. To visualize such a map maybe use rviz markers as mentioned by @joekeo