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Ok so I found solution for my problem. Services were not able to communicate faster than 20 Hz on raspberry. I also tried this solution http://answers.ros.org/question/99746/win_ros-service-call-problems-its-reqres-speed-is-very-slow/ but it did not help me at all. So I changed the architecture of my program replaced services with topics add one more thread and now it is working without any problems.

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