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Actual answer:
robot_pose_ekf has a 'freq' parameter you can set:
http://www.ros.org/wiki/robot_pose_ekf#Configuration
http://www.ros.org/wiki/Parameter%20Server#Private_Parameters
Sidenote:
Do you have an IMU on your robot? Otherwise, robot_pose_ekf won't accomplish anything for you with just one odometry source.
If you need a base_footprint tf frame, use static tf publisher from /base_link: http://www.ros.org/wiki/tf#static_transform_publisher