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With gazebo 9 I would try to do more parallelism
See here for more: http://gazebosim.org/tutorials?tut=parallel&cat=physics
parallelization of the physics engine is the direction to go in order to help improve performance, with the goal of running complex robots and environments in real-time. Parallel Strategies
Two strategies to parallelize physics have been implemented: island thread and position error correction thread. For more details about these two strategies results and analysis, please refer to the parallel physics reports on the Gazebo webpage. Island Thread
The first strategy attempts to parallelize simulation of non-interacting entities. Simulated entities are interacting if they are connected by an articulated joint (such as a revolute or universal joint) or are connected via contact. Groups of interacting entities are clustered into "islands" that are mathematically decoupled from each other. Thus each island can be simulated in parallel. After each step, the clustering of islands is recalculated.
Anyone tried that option yet?
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