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The quality of a wireless connection (bandwidth, latency, availability) can vary widely due to many factors such as load, other devices in the environment, motion of platforms, shape of the environment etc. There is no silver bullet to fix your problem, some straightforward things to try are:

• Optimize aforementioned factors (less distance, less interference..)
• Record data onboard the drones
• Reduce amount of data transmitted (for instance close rviz, which per default subscribes to tf)
• Get better WiFi hardware