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The simple answer is no. gmapping needs odometry.

You can either use SLAM that doesn't require this as hector_mapping or find an intermediate node that can produce odometry from IMU or laser + imu.

The simple answer is no. gmapping needs odometry.

You can either use SLAM that doesn't require this as hector_mapping or find an intermediate node that can produce odometry from IMU or laser + ~~imu.~~imu. http://www.ros.org/wiki/laser_scan_matcher should provide this functionality.

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