Gazebo has low FPS/bad performance

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Hello,

I am trying to simulate the ABB IRB 4600 60/205 from this repo: https://github.com/ros-industrial/abb...

I have a simulation where I open:

• Gazebo, with the robot model and an added mesh of a Depth Camera from here: https://github.com/microsoft/Azure-Ki...
• RViz with the pointcloud of my depth map and the from the pointcloud generated octomap

My system specs:

• Ubuntu 20.04.5 LTS
• Gnome version: 3.36.8
• Processor: Intel® Core™ i7-10510U CPU @ 1.80GHz × 8
• GPU: NVIDIA Corporation GP108M [GeForce MX330]
• 32 Gb of RAM
• Rviz version: 1.14.19
• Gazebo version: 11.11.0
• ROS Noetic

When I launch my simulation gazebo tells me it has around 50-60 frames, but when moving around the camera it is lagging quite bad. RViz says it has around 30 FPS but is lagging badly as well. The realtime factor of gazebo is shown as 0.20 to 0.25.

What can be the cause to this, are my system specs too low? I was before working on a laptop without a dedicated graphics card and it seemed to work better even. This makes using gazebo nearly impossible.

Thank you very much for any help.