Creating /tf (position) from IMU, 2D/3D SLAM (LiDAR+IMU+Octomap) (no need for high accuracy))

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Hello, Iam trying to build a simple SLAM system consisted of:

• RPLiDAR A2 M8
• Razor IMU 9DOF M0

used packages:

• octomap_mapping,
• razor_imu_9dof (razor-pub.launch)
• rplidar_ros (rplidar.launch)

own packages

• mctr-132_ros (sends transform of world 0,0,0 and transform of laser which has location 0,0,0 and orientation is quaternion from imu)
• mctr-132_laser (only converting LaserScan to PointCloud)

System: Ubuntu 16.04, ROS Kinetic

Iam in the phase that I put those points into map and I can visualize it in Rviz, but I only take IMU rotation into account. The position is being published into the /tf topic as 0, 0, 0. I can therefore build map of the surrounding environment. But I'd like to move my device around. So I need a proper /tf with position transform. I was thinking about robot_pose_ekf, but it needs odometry and I have no idea how to create fake odometry from 9dof imu.

Q1: Is it possible to create fake odometry from IMU and if so how?

Many thanks

ps.: I would upload also a photo but 5 points are required...

ps.: I tried google cartographer, hector_localization, rf2o_laser_odometry but I failed to build/run them...