How to fuse IMU, GPS data on cartographer? [closed]

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I'm the first time using ROS

I used cartographer with sensors like os-1 lidar sensor(have intrinsic IMU sensor), IMU sensor, GPS

but I only used os-1 lidar data for mapping, innate IMU sensor for localizing.

Eventually, I got problem after slam. I speculated that cause of the inaccurate localization.

I read the study using fused data for accuracy, but I don't know how to use in cartographer