How can I use the robot_localization package in ros2?

[qingning86]

My development environment：
Docker-based Ubuntu 22.04, ROS 2 Humble

My requests:
I want to build raster maps via Cartographer

My question：
There is no odom topic in the VRX project, so I want to simulate the release of odom topic by fusing gps and imu data via the robot_localization package. But I didn't find any tutorials on how to use robot_localization for newbies. What I'm confused about now is how to adjust the configuration file in robot_localization so that it can be adapted to the VRX project and that it can meet my requests as described above.
And in some of the articles I noticed that the odom topic they posted via robot_localization in ROS 1 were all called “/wamv/robot_localization/odometry/ filtered”. So I'm guessing if the vrx project provides this help in the ROS 1 version but not in the ROS 2 version.