How to set the source of odom published by turtlebot2 or kobuki?

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When using command roslaunch turtlebot_bringup minimal.launch to start turtlebot2, check the published topic through the command rostopic list, I found that there are the following three topics:

/mobile_base/odom
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw

I know that turtlebot2 (kobuki base) publishes odom through imu and wheel encoders separately or together, but I did not find the topic about wheel encoders to be published.

I want to know how to configure turtlebot to publish odom using imu and wheel encoders respectively?