build map dynamically in slam,not using static map

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Hi, I have checked several tutorial,examples,and questions. I also have wrote : robot_setup_laser,robot_setup_tf,robot_setup_odometry,robot_setup_base packages,and launch file. The laser data is real. tf,odom's data are now fake,latter will be true.

My question is how to navigation by the map which dynamically generate, not by static map generated by gmapping?

Which portion should I load? map_server? gmapping?

Which configuration should I set? Now I only know in

1. global_costmap_params.yaml -> static_map: false , rolling_window: true

I have already change the file in navigation_tutorials/navigation_stage/move_base_config

Am I right? Is there any location I lose? Thank you~~

My launch file is

  <launch>

    <master auto="start"/>
    <param name="/use_sim_time" value="false"/>  

    <node pkg="robot_setup_laser" type="laser" name="sensor_node_name" output="screen">
      <param name="sensor_param" value="param_value" />
    </node>

    <node pkg="robot_setup_odometry" type="odometry" name="odom_node" output="screen">
      <param name="odom_param" value="param_value" />
    </node>

    <node pkg="robot_setup_tf" type="tf_broadcaster" name="transform_configuration_name" output="screen">
      <param name="transform_configuration_param" value="param_value" />
    </node>

    <node pkg="robot_setup_base" type="base" name="base" output="screen">
      <param name="transform_configuration_param" value="param_value" />
    </node>

    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
        <!--remap from="scan" to="base_scan"/-->
        <!--param name="odom_frame" value="odom"/-->
        <param name="map_update_interval" value="2.0"/>
        <param name="maxUrange" value="6.0"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="srr" value="0.01"/>
        <param name="srt" value="0.02"/>
        <param name="str" value="0.01"/>
        <param name="stt" value="0.02"/>
        <param name="linearUpdate" value="0.25"/>     <!-- param name="linearUpdate" value="0.5"/-->
        <param name="angularUpdate" value="0.262"/>   <!--param name="angularUpdate" value="0.436"/-->
        <param name="temporalUpdate" value="-1.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="300"/>
        <param name="xmin" value="-50.0"/>
        <param name="ymin" value="-50.0"/>
        <param name="xmax" value="50.0"/>
        <param name="ymax" value="50.0"/>
        <param name="delta" value="0.05"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
    </node>

    <!--- Run AMCL -->
    <include file="$(find amcl)/examples/amcl_diff.launch" />

    <node pkg="stage" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find       navigation_stage)/stage_config/worlds/willow-pr2-multi.world" respawn="false">
      <param name="base_watchdog_timeout" value="0.2"/>
    </node>

    <!-- Throttle the voxel grid that is being published for rviz -->
    <node ns="move_base_node/local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages       voxel_grid 3.0 voxel_grid_throttled" />

    <group ns="robot_0">
      <param name="tf_prefix" value="robot_0" />
      <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
        <remap from="map" to="/map" />
        <param name="controller_frequency" value="10.0" />
        <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load"       ns="global_costmap" />
        <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load"       ns="local_costmap" />
        <rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load ...