diff --git a/ros2/src/udp_teleop/config/params.yaml b/ros2/src/udp_teleop/config/params.yaml
index a5cf652..09badf8 100644
--- a/ros2/src/udp_teleop/config/params.yaml
+++ b/ros2/src/udp_teleop/config/params.yaml
@@ -6,7 +6,7 @@ keyboard_udp_control:
     chassis_angular_speed: 45
     arm_height_step: 5
     arm_joint_step: 5
-    update_rate: 0.05
+    update_rate: 0.03
     debug_keys: false
     keyboard_backend: "auto"
-    stdin_hold_time: 0.04
+    stdin_hold_time: 0.08
diff --git a/ros2/src/udp_teleop/udp_teleop/keyboard_control.py b/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
index a09b3ac..6229345 100644
--- a/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
+++ b/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
@@ -104,6 +104,7 @@ class KeyboardUdpControlNode(Node):
         self.old_terminal_settings = None
 
         self._stdin_buf = ""
+        self._tick_count = 0
 
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
@@ -326,7 +327,9 @@ class KeyboardUdpControlNode(Node):
         if self.arm_active or self.is_arm_key_pressed(keys):
             self.sock.sendto(self.build_arm_cmd(), (self.udp_ip, self.udp_port))
 
-        self.print_status(keys)
+        self._tick_count += 1
+        if self._tick_count % 5 == 0:
+            self.print_status(keys)
 
     def print_status(self, keys):
         selected_joint = self.arm_selected_joint + 2