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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

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