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If you require jitter lower than millisecond level you probably need to look into using a hard real-time kernel and running your time critical loop in a thread that has been set to use hard real-time priority (or alternatively use OROCOS to hide some of the complexity). Searching for "hard real-time ROS" will provide some useful info such as this Q/A. Be warned that a hard real-time setup can be quite daunting to setup, so better be sure you actually need it ;)
Other option would be to just run your own thread and experiment with busy waiting etc., but I suspect that would be limited by OS scheduling still, similar to the ROS timer example you provided.
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