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It looks like you can set the simulator to use wall clock time by setting the parameter '/use_sim_time' to false in the gazebo world launch file (i.e. gazebo_worlds/launch/empty_world.launch).

Alternatively, you can set the update rate of the simulation to match the dt simulation step time (see gazebo_worlds/worlds/empty_throttled.world --line 10)

<physics type="ode" update_rate="1000">
  <ode>
    <solver type="quick" dt="0.001" iters="10" sor="1.3" />
     ...
  </ode>
</physics>

This should also produce (at least roughly) the behavior you're looking for.