ROS Webcam Stream Really Slow

I am trying to stream the images from my camera to a VM via ROS. Here is my setup:

• Raspberry Pi 3B+ with Picamera v2. It is running ROS Noetic with cv_camera_node
• An Ubuntu 20.04.1 VM with ROS Noetic. I am reviewing the live stream using rosrun rqt_image_view rqt_image_view

When I tried this, the stream is really laggy and slow. I am barely getting 10 fps. I was able to do camera calibration with it but mapping with it will be really challenging. Is there any way to speed it up. Can I decrease the quality of the camera capture? Any help is truly appreciated.