ekf_localizer fails when clcok rate is slower than predict_frecency #398
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predict_frequency is 50 hz by default, but when use_sim_time is set to true and /clock is used, timer callback is called by hz of /clock. Therefore, the predict rate does not match to ekf_dt and localization fails.
ex) predict_frequency:50 , clock_rate:20 bag_file
ros2 bag play <bag_file> --topics /vehicle/status/twist /sensing/imu/imu_data /diagnostics /localization/util/downsample/pointcloud /rosout /sensing/gnss/pose_with_covariance --clock 20
https://user-images.githubusercontent.com/39142679/154257037-a0fb2b01-5893-4bb1-a9b3-d02af28b79f7.mp4
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