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In you parameter file (.yaml) you can change the following parameter:

update_frequency = 15.0

Try to lower it to something like 5.0 (which is the default value for costmap http://wiki.ros.org/costmap_2d?distro=noetic).

Check that your map is not too much pixel, try to reduce de resolution, or try to crop the map so that the png file is the smallest possible.

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