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Guys no one here has mentioned shadows, in some worlds (like turtlebot3_world) they are active by default, you can turn them off and make a huge difference in performance using this snippet on your .world file:

<scene>
  <ambient>0.4 0.4 0.4 1</ambient>
  <background>0.7 0.7 0.7 1</background>
  <!-- modified (shadows) to reduce computation effort, default : true -->
  <shadows>false</shadows>
</scene>

Guys no one here has mentioned shadows, in some worlds (like turtlebot3_world) they are active by default, you can turn them off and make a huge difference in performance using this snippet on your .world file:

<scene>
  <ambient>0.4 0.4 0.4 1</ambient>
  <background>0.7 0.7 0.7 1</background>
  <!-- modified (shadows) to reduce computation effort, default : true -->
  <shadows>false</shadows>
</scene>