Rovers went closest to scoring in the first half when left-back Lee Brown played a neat one-two with Eliot Richards which gave him a clear sight of goal, but Town goalkeeper Scott Brown was off his line quickly to block in the 34th minute.
Former Pirates striker Jamie Cureton's shot was charged down by Will Packwood after good play from Craig Braham-Barrett and Matt Richards' cross was reached by Sido Jombati at the far post, but the lunging right-back could not finish from a tight angle.
David Noble found space in the box but failed to pull the trigger and Cureton's shot was saved by Steve Mildenhall after a sharp turn as it remained goalless at the break.
Rovers fans were cheering in the 53rd minute when Lee Brown forced the ball over the line, but he was in an offside position and the celebrations were short-lived.
Michael Smith beat Braham-Barrett and forced Scott Brown into another good stop in the 84th minute as the Pirates almost pinched it.