Slow publish rate

[tim-fan]

Hello, I've just got the app running, and I'm looking at the accelerometer publish rate - it is slower than I'd expected.

Running usb-tethered (instead of wifi) to my linux laptop running jammy/humble, and with no cameras enabled, I get about 4.5Hz accelerometer messages. At one point is appeared to be running at 30Hz, but quickly dropped back to 4Hz. Over wifi it drops to 2Hz.

Enabling camera, I get about 5Hz images, with greater than 1s latency (as observed in rqt_image_view).

Are these rates/latencies to be expected? Do I need to configure some DDS settings on my laptop to improve the rates? Or perhaps some android settings to look at?