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I am not quite sure I understood what the problem is.
You say translation looks good and also rotating 360 degrees leads to the same results. That sounds like the odom is working fine.
You also said something about a swirl when attaching rviz' frame to odom frame. This makes sense for me as well. Since normally rviz frame is fixed and not attached to a moving frame I would expect strange results, especially when scans are also shown at the same time (because they are displaying the effects of the rotation as well).
Try to set the rviz frame to a fixed /world or /map frame (depending on what exists in your case) and have another look at it while rotating. In case of neither already exist, you can setup a tf transformation rather easily using static_transform_publisher. Just publish a frame with zero coordinated that has your odom frame as child_frame.
When the gmapping is not working there can be a lot of different other things go wrong.
Please check and put up another question in case I am right.
Good luck! :)
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