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I'm going to share my opinion: you're using the wrong tool for the job. More precisely, the wrong architecture. It sounds like you are doing some kind of motor control loop, with feedback from a sensor.

In this situation it makes no sense to use a modular, distributed multi-host software system. The overhead makes ROS a poor fit for this problem. You could increase performance by doing all work in a single linux process and eliminating the networking calls entirely.