speed up rosbot navigation with teb local planner

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Hi

I have a powerful server (32GB RAM) running ubuntu 16.04 and ROS Kinetic.

I am using navFn and teb local palnner to navigate husarion Rosbot2 carlike robot.

I set all required parameters, however the the rosbot2 seems crawling, how can I get fast navigatio.

Below the settings:

move_rosbot2.launch

<launch>
    <arg name="use_rosbot" default="false"/>
    <arg name="use_gazebo" default="true"/>
    <param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>
<!-- Bring the ROSbot model and show it in Gazebo and in Rviz  -->
    <include file="$(find rosbot_description)/launch/rosbot_rviz.launch"/>
<!-- Map server -->
    <arg name="map_file" default="$(find rosbot_navigation)/maps/willowgarage-refined.yaml"/>
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!--- tf -->
    <node unless="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="map_odom_tf" args="0 0 0 0 0 0 map odom 100" /> 
    <node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 3.14 0 0 base_link laser 100" />

    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
    </node>
<!--- Localization: Run AMCL -->
  <node pkg="amcl" type="amcl" name="amcl" output="screen">
        <remap from="scan" to="/scan"/>
        <rosparam file="$(find rosbot_navigation)/config/amcl.yaml" command="load" />

    </node>
<!-- Move base -->
    <node pkg="move_base" type="move_base" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
        <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> 
        <param name="controller_frequency" value="30.0"/> <!-- default is 20.0 -->
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/teb_local_planner_params.yaml" command="load" />
    </node>
</launch>

amcl.yaml

use_map_topic: true

odom_frame_id: "odom"
base_frame_id: "base_link"
global_frame_id: "map"

initial_pose_x : 0
initial_pose_y : 0

## Publish scans from best pose at a max of 10 Hz
odom_model_type: "diff"
odom_alpha5: 0.1
gui_publish_rate: 10.0
laser_max_beams: 60
laser_max_range: 12.0
min_particles: 500
max_particles: 2000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
## translation std dev, m 
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
aser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
laser_likelihood_max_dist: 2.0
update_min_d: 0.25
update_min_a: 0.2

resample_interval: 1

## Increase tolerance because the computer can get quite busy 
transform_tolerance: 1.0
recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.1

costmap_common_params.yaml

footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
transform_tolerance: 0.2
map_type: costmap

obstacle_layer:
 enabled: true
 obstacle_range: 3.0
 raytrace_range: 3.5
 inflation_radius: 0.2
 track_unknown_space: false
 combination_method: 1

 observation_sources: laser_scan_sensor
 laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

inflation_layer:
  enabled: true
  cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default ...