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A negative value for <real_time_update_rate> will cause Gazebo to run as fast as possible, and will therefore consume as much CPU as possible.

If you want to run in real time, set the <real_time_update_rate> to be 1.0/<max_step_size>.

When I run gzserver with an empty world, I get around 7.3% CPU usage. Can you try running just gzserver?