Hi Kyler, here I uploaded a starting point for using the robot_localization. I am adapting it to your system yet. The navsat transform node it is already done and "just" the ekf node must the set:
[tractobots_robot_localization](
https://github.com/kylerlaird/tractobots/tree/robot_localization/src/tractobots_robot_localization)
More or less it is the same Tom proposed.
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