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All of the sensor measurements are incorporated as measurement updates in the EKF. So, if you were to look at the r_l code responsible for the prediction step of the EKF here, you'll see that state prediction is entirely based on the current estimate.

You may already know this, but in your r_l configuration file you can set which specific measurements from each sensor are included in the update step, as shown in the example launch file here.

All of the sensor measurements are incorporated as measurement updates in the EKF. So, if you were to look at the r_l code responsible for the prediction step of the EKF here, (specifically if you look at the transfer functions defined), you'll see that state prediction is entirely based on the current estimate.

You may already know this, but in your r_l configuration file you can set which specific measurements from each sensor are included in the update step, as shown in the example launch file here.