Publish rate issue with livox avia

[curiousityy]

I am currently using a livox avia in ROS2 foxy and humble and in both the cases, although I select publish frequency of LIDAR to 10Hz and IMU at 200Hz (which is default in the driver), my ROS2 topics are published at 5Hz for the pointcloud and 50Hz for IMU. I am currently using NVIDIA jetson AGX at maximum configuration and so, I am certain the hardware requirements are met for running the driver. I also tested the AVIA in ROS noetic and the publish rates there work correctly. I am only facing the issue in ROS2. Any idea what could be wrong?

[siliblue]

I think you're going to have to optimize the code because I'm dashing through this version and it's a long time old library after all