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What is a "big" delay? You should be able to receive a message and execute a simple callback in less than 5 milliseconds, but how big is that?

Suggestions:

Remove delay(1)
Prefer SPI over I2C as it allows much higher bitrates
Use interruptions for your communication; make sure your callback does not exceed the interruption rate! (I don't know how the Arduino ROS library works, it seems to already use interruptions via the Timers)
Measure time and analyze what is eating time with Micros()

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