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I know this is pretty late, but it's worth a shot. Stageros interval time is the rate at which it simulates physics and sensors in the simulation. The ROS nodes running generally think that simulated ROS time is true time, so they see everything as if it is acting full speed. On the other hand, the simulation will run very slowly in real time because it is taking the computer a long time to calculate everything it needs to for each .1 millisecond. If you are looking for the simulation to run closer to real time as you see it, I found that 1 ms is about as fast as I can go on my machine.