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For ROS1 ros_control is an interesting option. You have to use/configure the correct drive train. Then you have to write a hardware interface. In the hardware interface you basically get the speed commands per motor and you have to give it the speed that the encoders measure.

It will then calculate the odometry for you.

If you do not have encoders, you could use the IMU only, but I don't know how well that would work. Theoretically you might just be able to use something like localization and only have 1 input (only your IMU) but I'm not 100% how that would work.

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