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ANSWER:

The answer to this issue, provided by gvdhoorn (Thanks again!), was to disable Nagel's algorithm for the /odometry/filtered topic. In order to do this, I added a ros::TransportHints to the subscribe call on the /odometry/filtered topic:

ros::TransportHints transportConfig;
  transportConfig.tcpNoDelay();
  ros::Subscriber sub = n.subscribe("/odometry/filtered", 1000, <callback>, transportConfig);