Vectornav VN200 RVIZ visualisation

Hey! I have a problem with my project. I have Vectornav VN200 and I use git code I want to create dead reckoning navigation for robot based on IMU and GPS or only IMU and visualize it in rviz. I can get needed information but i don’t know how to change it and run in rviz to get what i want. I would like to to create object to see my orientation and mark my position using data from IMU and GPS. Can you help me or show in which direction should I go? I’m amateur and it’s my first project.

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