diff --git a/dist/roverd b/dist/roverd
index 08da1717..f97409b6 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 0140ed68..415019ef 100755
Binary files a/dist/servoverifier and b/dist/servoverifier differ
diff --git a/pi/bin/video-publisher.sh b/pi/bin/video-publisher.sh
index 445bb9c1..e0701793 100644
--- a/pi/bin/video-publisher.sh
+++ b/pi/bin/video-publisher.sh
@@ -132,7 +132,7 @@ run_pipeline() {
 			-ar:a "${AUDIO_OUT_RATE}" \
 			-ac:a "${AUDIO_OUT_CHANNELS}" \
 			-application lowdelay \
-			-frame_duration 20 \
+			-frame_duration 10 \
 			-compression_level 0 \
 			-muxpreload 0 \
 			-muxdelay 0 \
diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh
index c217f3a1..c746ea3e 100755
--- a/pi/install_roverd.sh
+++ b/pi/install_roverd.sh
@@ -213,7 +213,7 @@ log "Installed audio-capture helper + systemd unit"
 install -d -o roverd -g roverd /var/lib/roverd
 cat > /var/lib/roverd/video.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
-PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
+PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 VIDEO_WIDTH=1280
 VIDEO_HEIGHT=720
 VIDEO_FPS=30
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index e4961792..904757a1 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -284,5 +284,5 @@ func derivePublishURL(serverURL, roverName string, port int) (string, error) {
 		port = 9000
 	}
 	streamName := url.PathEscape(roverName)
-	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
+	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
 }
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index 58ec554d..f440e510 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -15,7 +15,7 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
+  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
   videoWidth: 1280
   videoHeight: 720