I'm able to build a 2D map with gmapping by using a SICK laser and IMU.
I use robot_localization to obtain /odometry/filtered by using wheel encoders and IMU (when I lunch my robot `roslaunch husky_base base.launch`, `base.launch` launches `control.launch` which launches `robot_localization` package).
By giving these commands:
roscore
rosparam set use_sim_time true
roslaunch husky_viz view_robot.launch
roslaunch husky_navigation gmapping_demo.launch
rosbag play --clock file.bag
I can see a map like this: 
(Right click on it and then "view" to see it larger)
Please see also the errors on the left side (I think they are not so important since I'm able to build the map).
The problem now is that I'm not able to set the navigation goal and make the robot navigate towards it.
When I launch `husky_navigation gmapping_demo.launch`, it also launches `move_base` but I can't understand why the robot don't move.
This is `gmapping_demo.launch`:
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