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if it is possible to send and receive (say for example velocity commands) at more than 200 Hz
It should be possible, if you use a RT kernel, but I have never tried it.
Without a RT kernel the jitter is huge and you will not be able to control the drive properly. In my tests 100 Hz are fine on a non-RT kernel, 200 Hz is already getting unstable. Things get a little bit better, if you switch to the external BCM-based sync.
If not ? What is the reason ?
ROS and ros_control
are multi-threaded and the thread scheduling is not reliable on a non-RT kernel.