-if u don't know enough about rosserial, follow this tutorials (http://wiki.ros.org/rosserial/Tutorials)
-how to publish the ticks of encoders on ros (https://automaticaddison.com/how-to-p...)
-initial position publisher needed by addisson's odom node (https://automaticaddison.com/how-to-c...)
-addisson's odom package which turns ticks to odometry(https://automaticaddison.com/how-to-p...)
the IMU package (https://github.com/fsteinhardt/mpu605...)
-dependency package needed for the imu package (https://github.com/wjwwood/serial)
-how to install/use the EKF package (https://automaticaddison.com/sensor-f...)