How to use robot_localization of ROS for fusing IMU & GPS implementaion in my framework

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You can use the robot_localization package to fuse all data using Kalman Filters. You just need to configure which type of information you want to use on parameters and which topic you want to subscribe.

"<rosparam param="odom0_config">[true, true, false,
                                false, false, true,
                                true, false, false,
                                false, false, true,
                                false, false, false]</rosparam>"

The order of the boolean values are (X,Y,Z, roll,pitch,yaw, X˙,Y˙,Z˙, roll˙,pitch˙,yaw˙ ,X¨,Y¨,Z¨).

http://wiki.ros.org/robot_localization

http://docs.ros.org/melodic/api/robot...

Integration with GPS: http://docs.ros.org/melodic/api/robot...