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If you're using a laser scanner, using hector_mapping can be easier than gmapping. Launch the mapping program and publish a 0,0,0 static transform between base_link and laser to account for your non existent odometry and you should be set.

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_tf" args="0 0 0 0 0 0 base_link laser 100"/>

Just my two cents.

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