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If you're maxing out any of the resources of your computer then you would expect the message rate to decrease when you add more load on top. Have you tried running rqt_top to measure how much CPU and memory each of your nodes are using?

If you are indeed maxing out your computer you could try recording the rosbag on another computer or connecting the sensors to two different computers to spread the load. Although in this case you want to be careful you don't max out your network bandwidth.