Yes and no. I think it depends on your needs, and what other sensors you have.
Remember that even diff drive robot wheels slip a little. And you can never measure the diameter of the wheel accurate enough. This is why dead-reckoning doesn't work well over long distances. And why you need other sensors to correct for these errors.
I haven't used the entire ROS Navigation Stack, but I have used parts of it with a skid steer robot. (In my case I used a Hokuyo, robot_pose_EKF, laser_scan_matcher, and costmap_2d nodes among other custom nodes.) My setup was enough for the robot to maintain a reasonable 2D location if it didn't drive too far. But after a long time of driving around, the location and orientation would be way off. I don't think doing any sort of SLAM mapping would have worked for me. I found that the ICP algorithm in the laser_scan_matcher was critical to correcting the odometry errors when the robot would turn.
I should mention that I did not have an IMU to feed into the EKF, but i think that would have improved results greatly. The diameter of my wheels was also way off. (I would drive a meter, but the robot would think it was only 0.8 or so.) So if you have better odometry, a laser, and an IMU, then you might be ok. But i don't know what your application is...