Applying Extended Kalman Filter (EKF) to ROS project

The project is based on applying Extended kalman filter in Robotic Operating System (ROS).I aldready have working files included and I will explain how to launch the project .After that extended kalman filter (EKF) needs to be added in my script. The EKF will fuse odometry information and the measurement data that I already calculated , and also fusing the motion model which can be calculated by subsrcibing to cmd_vel topic and finding the position of the robot based on cmd_vel input data .After correctly applying the Extended kalman filter the results from EKF and odometry will be compared assuming the variables will be very close and the graph of the results from EKF and Odometry will needed for illustration of final results.Everything will be explained in depth preferably by a video call to make sure nothing is unclear. Requirements for the project : experience in ROS , Python , Gazebo , knowledge of Extended Kalman filter