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Marshalling does take a good amount of time. The recent driver is already a nodelet in it's implementation and can use the nodelet_throttle. For an example of doing this see the turtlebot_bringup robot.launch

That launch file shows how you can downsample while only passing pointers. The existing settings doesn't throttle the frequency much as we can keep up mostly, but just change the parameters if you need less CPU usage.

PS you may want to experiment with running more things as nodelets on the embedded board for by doing that you can entirely avoid serializing. Depending on what you are doing it may be more efficient to operate on the data in place.