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The baud rate default is defined in rosserial_python/serial_node.py.

baud = int(rospy.get_param('~baud','57600'))

As you rightly say, using "baud" as a argument with rosrun or as an argument for launch files is the best way to set this.

Unfortunately I don't know what the maximum baud rate is on the Arduino zero, but you could experiment with this using the Arduino IDE.