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Hi, after some time trying to set the parameters correctly I realized that they are correct. But I localized the problem ... Since I configure all parameters directly from my code (with setparam("")) I assumed that this is the last instance which configures the parameters. If I perform a "rosparam get" in the console, all parameters are set according to the code.
But it seems that there is a bug ... a launch file from /move_base/global_costmap overwrites my parameters WITHOUT signalizing this on a "rosparam get"!!! So I just changed the publish_frequency there and everything worked fine! :)
Hopefully this helps you solving similar problems.
BR, Daniel