Dynamixel State maximum publishing rate

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I have a dynamixel X series servo that can communicate between 57,600 bad and 4,500,000 baud. When I try publishing the state of the motor, the maximum I am able to achieve is 62 Hz (regardless of baud rate). This happens even when the publisher is set to advertise at 1000 Hz and ros::Rate loop_rate is 1000.

What can I do to increase the publishing rate? The high resolution encoder is not much use if I need to interpolate between messages at the end of the day.