handle the localization transformation

edit

hello, sorry for my bad informations,

if i make an encoder calculations and transform from odom to base_link what kind of transformation should i make between base_link and base_footprint if i uesd this parameters with ekf localiztion

odom_frame: odom                 
base_link_frame: base_footprint

and like if i used other packages like slam_toolbox and ros2_navigation how i make a cortect transformation with ensure that i made an odom to base_link wheels encoders transform

from map -> odom ->base_footprint -> base_link->sensors_links