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Yes, you certainly can use odometry.
In your launch file, you will need to set up the following parameters to the correct tf frames for your platform. If you don't have a launch file, I'd make one. Also, take a look at the pr2 launch file that comes with hector_slam. It uses the robot's odometry.
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_frame" />
<param name="odom_frame" value="odom" />
PS: that's a HUGE tunnel.