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I am no expert in this, but if I understand you correctly, that you have a topic with bw 160.24 MB/s and are streaming it over a Gb network, then this is expected behavior. 1Gb is theoretically 125MB, but you will never actually get 125MB/s which would still not be enough to give you 30 fps. In my experience I usually get ~95 MB/s from a Gb network. If you want to test your network google "iperf".

You would need to get the bw of the topics you want to use down. You could do encoding/decoding and/or reduce the fps or resolution of the stream.

I am not sure what you mean by:

The size of a saved image is 476.3 kB.

How do you get this image, how is it saved? If I would have to guess, I would say the saved image is not the raw feed of the camera. What is the resolution of the video feed?

Also not sure what you mean by ROS topic's header, if you mean the description of the message type, then it is probably in the order of tens of bytes, so probably not the issue here.