How is turtlebot3 able to transfer 5 different msgs with 115200 baud rate?

Question

I am going through the code of turtlebot3_core on ROBOTIS-GIT/OpenCR git page.

The turtlebot3 is publishing 5 different msgs which are; TransformStamped, SensorState, Imu, Odometry and JointState.

The message sizes are;

• turtlebot3_msgs::SensorState sensor_state_msg - 28 bytes
• sensor_msgs::Imu imu_msg - 344 bytes
• geometry_msgs::Twist cmd_vel_rc100_msg - 72 bytes
• nav_msgs::Odometry odom - 112 bytes
• sensor_msgs::JointState joint_states - 88 bytes

The total size of the publishing msgs are around 644bytes (if I am not wrong about the sizes). In turtlebot3_core_config.h, I saw that the publish rates are 30Hz and for IMU it is 200Hz. The total baud rate needed is way up more than 115200. How does turtlebot3 achive this? What am I missing here?