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There are icp packages out there to get odometry from laserscan example, and then in the ekf sensor fusion node of robot_localization you can fuse them all. Also most slam and localization packages take in laserscan, I think rtabmap and cartographer do for "internal odometry?". And AMCL takes laserscan for localization as well. The usual way is to fuse odometry and IMU in ekf_localization and laserscan for slam, or mapping and localization seperated (gmapping and amcl together as in most basic tutorials).