driver integration for imu in Robot_localization

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Hi, I have imu sensor BNO055 which i need to fuse with gps to get the estimation through EKF. I have few queries regarding that :

1- How to integrate or merge imu driver into robot_localization files/implementation, Whats the procedure? I already have git files of my IMU driver.

2- Firstly i just want to communicate my IMU with EKF for the sake of simulation and getting values out of it, Is it possible? IF yes then what What should be the MASTER node, PUBLISHER node, TOPIC and SUBSCRIBER node for doing that?