Increase Odometry Frequency

[bhaskar-glitch]

Hi,
I'm currently using a Livox Mid-360 LiDAR with a Jetson AGX Orin on my drone. I've calibrated the LiDAR with the Pixhawk IMU, and I'm getting IMU data at 200Hz from /mavros/imu/data. However, the LiDAR odometry data from Fast LIO /odometry is only at 10Hz. I tried changing the frequency of the /lidar/data topic from the launch file, initially set to 10Hz, to 100Hz. While this did increase the frequency to 100Hz, the LiDAR started drifting significantly.

Any advice or guidance on how to achieve higher frequency without the drift would be greatly appreciated.