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Actually, the amcl_pose rate doesn't have to be that fast. Cuz odom_pose rate is 10Hz to 50Hz, which is continuous. The duty of amcl_pose is to fix the odometry drift.

While I guess you can still change the amcl_pose rate by tuning the parameters of amcl. You can go to amcl wiki for details. You may tune the max_particles, update_min_d or other parameters, but it hard to change the rate directly, in my opinion.

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