Delay on publishing/subcriber nodes

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I got a rasperryP and a desktop running ROS. Both ROS versions are Kinetic. Via keyboard strokes I create Twist messages which I publish.

Sending Twist messages to move my robot has often a delay of 0.5 ~ 1 sec. While running a python script on the raspberry pi via ssh (without ros) the movements are performed instant.

Is there a better way of using ROS, which could help me to get rid of this delay?