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The filter only updates when new data has been received from _all_ active sensors, and is therefore limited by the rate of the slowest sensor. So the filter does not do predictions based on one of the sensor sources alone. This is a choice between a 'better prediction' and a 'faster prediction'. When the filter would provide predictions as soon as one of the sensors give some information, then you would get a prediction really fast. But that prediction would not be your most accurate prediction the filter can offer, because a better prediction is possible when information from other sensors arrives. The robot pose ekf has the build-in design decision to only provide 'best' predictions.