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since your gps is operating at 1 Hz, i think the maximum frequency with which you can publish is 1 Hz. This is because according to basic ekf, the predictor is updated as and when the data from the imu is available and then when the gps data is available, the values are corrected and then published. I think this is reason why you can't publish at 20 Hz.

ATB! (PS: I am not sure if my answer is right, but it is as per my limited knowledge...Please correct me if my answer is wrong)

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