How to build Navigation Stack?

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I reference the wiki of RobotSetup: https://wiki.ros.org/navigation/Tutor...

Here are my env:

As you can seen i have lidar and robot in real.

Here are my questions.

In creating a robot configuration launch file.

<node pkg="odom_node_pkg" type="odom_node_type" name="odom_node" output="screen">

odom_node_pkg how can i find it?

<param name="transform_configuration_param" value="param_value" />

transform_configuration_param dose it mean tf? what should i fill in the param_value?

<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />

Thank you for listening to my questions.