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I suspect that you don't have enough CPU cycles and that as a result some part of the system is running slower than expected. Off-hand, I'm not sure whether it would be Gazebo itself (including plugins) or one of the ROS nodes.

In any case, have a look at your system load (e.g., with top). If your system is very busy, try having Gazebo run slower: lower <update_rate> in the .world file that you're using.