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As with most driver nodes, this one appears to handle a single sensor, so one node for each camera is probably what you need. The pylon-ros-camera GitHub repo has information about modifying parameters with services. Each camera driver node should have its own namespace and services. As for how to increase the frame rate, it depends where the limitation is. Your camera's documentation probably states its maximum FPS and how best to configure it. Assuming that max FPS is not the limiting factor, you may be able to reduce the resolution or increase the bandwidth, but that depends on your hardware. The manufacturer is the best source of answers for that kind of question.
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