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My guess is that you are meant to run mapping as a discrete process, and then used that generated map for navigation later on. I don't think they intended for you to run mapping while you are running the nav stack.
In any case, tf wouldn't allow them to run at the same time. You cannot have two parents for a given frame in ROS, so if the normal nav is publishing odom->base_link and the mapping is publishing odom_gmapping->base_link, tf will complain and won't function correctly. The only excaption there is if they are inverting the publication of the odom_gmapping->base_link transform and instead publishing the base_link->odom_gmapping transform. In that case, they might want to have independent state estimates in two frames.
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