Is it possible to move a robot using odom without localiation but using actions particularly actionlib ?

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You don't actually need actionlib to do drive using only odometry. You can subscribe to your vehicle's odometry, and publish a command velocity based on how much your odometry thinks the vehicle moved. But beware that this is subject to odometric errors like wheel slip, differences in the diameter of both the wheels, quantization errors, etc.

Here is a tutorial that might help you get started.