Does Gazebo limit FPS and can I turn it off?

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Thanks for the answer, this looks like what I was looking for. It should be okay to use it as a performance metric, right? Since a more complex scene will result in a lower FPS of this main camera.

This GUI FPS is mainly affected by the number and details of the "Visual"s in the world, and not really by the GPU sensors in the world. If you are interested in the camera or GPU lidar's frame rate, then check their rates directly, not this FPS. This is capped by sensor's <update_rate>. Or if you are more interested in physics complexity, then it's the real time factor. In Physics->real time update rate, set to 0, and the simulation will be run as fast as possible. Higher RTF = faster sim.

Sorry, I am not familiar with GPU sensors in this context. What do you mean by GPU sensors?

RTF seems like a good metric for Gazebo performance tests. However, I want to compare Gazebo with other simulators (mainly the use of the Unity game engine), so the RTF might not be directly comparable to any of their metrics.

GPU sensors = Cameras and GPU lidars. They use GPU to simulate the sensor data. If you are comparing with other simulators, there are more parameters to check, such as the solver the physics engine uses, and the time step of the physics update.