Cartographer configuration for real-time navigation

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I'm trying to get to use Google Cartographer for real-time navigation in 2D, but can't get the parameters right. The documentation provides advises for lower latency, however it is set for fast recieving data for processing, not fast producing output.

Between the number of scans per submaps and optimization every n nodes, obtaining a result takes too many scans(time) and, with a slow lidar (7hz) seems useless for fast robots (0,8m/s).

So far I've been changing parameters kinda randomly to check results, but can't get on the right path. Does anyone know wich parameters can be tuned to achieve this?

PS: no IMU nor Odometry being use by now