lagging of rostopic pub (rosserial)

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i just tried Roserrial for the communication between Pi 3 (kinetic) and Ardunio and i am aware that there is lagging when publishing command from server to node (about 1sec) while baudrate is 57600

the example i followed is here: http://wiki.ros.org/rosserial_arduino...

it is easy to know that every time Rostopic pub is given, LED on Ardunio should toggle status and, it takes about 1 sec to complete that.

Any solution to get rid of this lagging