Robot_pose_ekf with IMU and scanmatch_odom [closed]

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Hello

I have a question of how to use Robot_pose_ ekf. As I do not have any encoders for the odometry would like to use the hector odomtry published on scanmatch_odom. Mu sensor package consist of IMU, Laser and Camera. Would like to use Robot_pose_ekf for pose estimation. So because of that would like to fuse IMU data and odometry from hector mapping or from Gmapping and laser scan matcher. SO any examples of tutorial fro using that?? So how to subscribe to the robot_pose_ekf topic odom (nav_msgs/Odometry) with the hector mapping odom parameter scanmatch_odom and Gmapping+laser_scan_mathcher. Any help?

Thanks