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I don't think that is important as much as long as GNSS Hz is below from a threshold such as 10Hz. In my case when I increase the GNSS Hz, it created 30 seconds delays.

I found gnss_pose is published based on the GPS time and ndt_pose is published based on the current timing. Why are they different?

I guess the fundamental reason for delay is your question, GPS time delays from the current_time when you incrase the speed of GNSS.