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Your IMU is going to give you, at most, orientation, angular velocity, and linear acceleration. An IMU alone is not going to be sufficient for navigation. If you do have wheel encoders that are producing velocity or position and an IMU, then you're in good shape. Read through the robot_localization wiki page and tutorials for information on how to set it up. You can also look at the sample launch files in the source code repo. You shouldn't have to make any code changes, no.