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With Tom's (Moore) help, I've discovered that the answer lies in two elements: 1) for BeagleBone Black, there is a cpu frequency governor. Make sure the maximum cpu is utilized unless you're using battery power. It turns out that the default may be as low as 300 mHz... not enough. Raise it to your comfort level. Here is the source I used: http://derekmolloy.ie/changing-the-beaglebone-cpu-frequency/ 2) Arriving at optimal imu input frequency vs ekf_localization frequency (also navsat) is by trial and error. Proceed until you can reduce the cpu load and increase the frequency of the output node (in my case, /odometry/filtered) to a stable compromise.