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You can not set rate/frequency of AMCL in Hz directly.

AMCL will update amcl_pose topic when position/orientation of robot changes for some value. So, if robot is not moving it will not publish any new messages to topic.

You can control how much the robot must move to publish new pose message with parameters update_min_d and update_min_a. You can read more about them on AMCL wiki page.

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