JointCommand Application Time Comsumption

Hi, I am trying to find the Delay in the process of robot control.
Now it turns out to be little time consumption during my code about ROS topic handling (microsecond level).
Does the OmniGraphs below cost a lot?
or is there anyway that I can get the consumption?
image

I figured it out by writing a script to record it.
From the input of /joint_command ROS topic to the respond of /joint_state, it costs about 635ms.
However, is there anyway to reduce it?

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