Setting Up Navigation Stack with only Odomtery

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Hello,

I'm trying to set up the navigation stack on a robot possessing only odometry devices (wheel encoder, IMU, and GPS, published to /odom /imu /gps). No camera/laser. The robot is also using robot_state_publisher to publish the transformations between robot parts. The tree looks like this:

/base_footprint --> /base_link --> /imu /gps /front_left_wheel_link /front_right_wheel_link ...

If I want to use only odometry sources (wheel encoder, IMU, and GPS) to navigate the robot, it seems the only frame transformation that needs to be done is /map --> /odom --> /base_footprint. I was wondering if this should be done manually or navigation stack (amcl localization?) is taking care of these two transformations?

Thanks