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Well, if you get your odometry at 12Hz and your max speed is 0.3m/sec that means that if your robot is moving at max speed it will travel 0.025m (2.5cm) between odometry updates. If that is something you can live with, then it is OK.

I usually work with a robot that publishes odometry at ~20Hz with 0.5m/sec max speed without any major issue, although to avoid overshooting or oscillating around a goal point in autonomous navigation, the robot needs to drive slowly when close to the goal.

As a rule of thumb, the finest control you want the higher rate you need.