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Hi, you can consider setting the "enable_homotopy_class_planning" parameter to be false too. This is known to cause significant problems with the control loop frequency. According to the ROS documentation for TEB:

Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once).

Although this might disable one of the main purposes of using TEB, which allows you to plan multiple trajectories simultaneously, it is sure to increase your control loop frequency to a decent level.

A few other parameters you can consider tuning are the "no_inner_iterations", "no_outer_iterations" which will reduce the number of solver iterations, possibly leading to less optimized paths but will free up CPU resources nevertheless.