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Answer will depend on what exactly you mean by "implement odometry pose estimation".
If you want to go from raw wheel encoders to odometry estimate, most of that is happening with the diff_drive_controller which has a config file in the husky_control package. It uses the raw wheel encoder data with a diff_drive motion model to estimate odometry (and publishes it on husky_velocity_controller/odom).
The other link you specified ("code base") is the code for the robot_localization package. This package fuses the wheel odometry ("husky_velocity_controller/odom") as well as imu data in an EKF to estimate pose (usually published on odometry/filtered).
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