Simultaneous rosserial_arduino publisher and subscriber at different rates?

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Hello everyone,

Thank yuo for taking the time to read and answer my question. I am fairly new to both ROS and arduino so please pardon me if my question is simplistic. I am trying to make a ROS robot using an MCU for the low level hardware handling and I followed the rosserial_arduino tutorial to combine the publisher and subscriber into one node that can both publish and subscribe:

#include <ros.h>
#include <std_msgs/Empty.h>
#include <std_msgs/String.h>

ros::NodeHandle nh; 

std_msgs::String str_msg; 
char hello[6] = "hello"; 

ros::Publisher chatter("chatter", &str_msg); 

void messageCb(const std_msgs::Empty& toggle_msg){ 
  digitalWrite(PC13, HIGH-digitalRead(PC13));
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); 

void setup(){
  nh.initNode(); 
  nh.advertise(chatter); 
  nh.subscribe(sub); 
  pinMode(PC13, OUTPUT); 
  str_msg.data = hello; 
}

void loop(){
  chatter.publish(&str_msg); 
  nh.spinOnce();
  delay(1000);
}

With the delay(1000) function in loop(), both the subscribing and publishing occur at 1hz. Is there a way for the subscriber to subscribe at a higher rate, while keeping the publisher publishing at 1hz?