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First question: Is ODOM at 0 an Issue? Answer: No. Not an issue. When you set initial pose the MAP->ODOM TF gets setup and all is OK. Second question: Is that good idea or should I use EKF? Opinion: Keep it as simple as possible but no simpler. If ODOM and laser scanner give you good results then no need to use IMU and EFK IMHO. If you are on a Discovery Voyage (Stranger Things reference) and want to get broad experience with ROS, then absolutely it's a good idea. The more complicated you make it, the more experience you get.