How to reuse Gazebo Simulation TurtleBot3 ROS Stack to work for real robot?

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I am trying to make a TurtleBot like robot which uses Lidar(Slamtech RpLidar A2) and IMU sensor (SparkFun Razor M0 9DOF)

Key differences between TurtleBot and my robot are that

1. My robot has no camera ( neither RGB nor depth ) sensor.
2. My robot uses Slamtech RpLidar A2.

PROBLEM

/odom topic that contains pose (position and orientation) is published directly by gazebo node. I can get orientation data from IMU but I can't get position data. How can I use IMU data along with RpLidar scans to publish messages to /odom topic.

Any Suggestions that can be tested directly with gazebo simulation are more appreciated as gazebo node also publishes simulated /imu topic messages

My Current Simulated Implimentation:

1. Use URDF of TurtleBot Waffle Model by running command export TURTLEBOT3_MODEL=waffle

2. Run TurtleBot3 Gazebo Simulation world by running command roslaunch turtlebot3_gazebo turtlebot3_house.launch

3. Run TurtleBot Navigation and rViz Visualisation by running command roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/ros/tb3_house_map.yaml

The Node/Topics running in this simulation are in the following DOT file: link text

Dot file can be opened by using

rosrun rqt_graph rqt_graph

Progress so far :

Because I want to run a real robot, I don't roslaunch turtlebot3_gazebo turtlebot3_house.launch

Therefore, the /gazebo topic that publishes /odom, /joint_states and /scan topics is absent.

I have successfully created launch files for emulating /scan topic from RpLidar

I also get data from IMU sensor over /imu of typical message type sensor_msgs/Imu

I also created custom URDF for my robot so /joint_states is published.

But I cannot emulate /odom topic.