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You can't run navigation with a map. It doesn't need a static map, but the global planner does need some kind of map to plan against.

For dynamic environments, I've had some limited success running move_base on top of gmapping, instead of amcl and a static map.

I would recommend getting gmapping to run well by itself, and once that works well, running your navigation on top of gmapping. This way, you can troubleshoot gmapping by itself without chasing the robot around, and it will be easier to isolate failures to either move_base or gmapping, rather than trying to debug both simultaneously.