Gazebo Lag Time using Camera Plugin

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Hey all,

I am trying to command an arm with a camera to a desired pose and grab the image at that pose as soon as possible. I have tried using both joint position controllers and writing a custom model plugin that sets the desired joint angles instantaneously. In both cases, it takes about 0.3 seconds (from time command is sent) to receive the correct image at the commanded pose. I have gazebo running at 60fps at x10 real time. The camera is publishing at 20hz. Is there any other ways to speed this up? Or is there just an inherent delay using gazebo with ROS?

Thanks for the help!