Here goes an update regarding the issue below:
Uorb to ros2 topic using Micro XRCE-DDS. Max topic frequency limited to 100hz
To increase the default rate limit on the ROS2 side, change the line PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h.em at 01d8113f8b88faf2df740005ba814644d560b50f · PX4/PX4-Autopilot · GitHub to a value smaller than 10. For instance, a value of 5 would allow a maximum rate of 200 Hz, a value of 2 would allow a maximum rate of 500 Hz, and so on.