ending wage garnishment

what can i do to end wage garnishment. im a single mom of 2. my wages began being garnished when i was 7 months pregnant and had gestational diabetes. my son's father left me at the time and emotionally i fell in a deep depression. I was truly unable to address any financial matters. this was 2008. Currently I'm in a far more better mental state and am trying desperately to regain what I lost. I was thinking of getting help from SLRO but I have been told they are a rip off and I could do it myself much cheaper. Please give me advice on the following options:

SLRO: Are they really rip offs? Anyone have any success? How long did it take?

Rehab option: West Asset is already garnishing $566.00 per month out my check and told me I could rehab it if I paid and additional $500 per month. I think this is outrageous just ,like the $566 they are taking out; its been crippling me for over a year and I'm on on the verge of losing my home. Doesnt the HEA indicate I have a right to a reasonable payment? How can I adjust this?

Reduce the garnish amount: Is there a way the garnish amount can be reduced to something much more reasonable?

Please help.