Low real time factor with gazebo 11.12

[AlexandreValerio]

Hello,
I am doing a project where I am training an UAV controller. I am using ardupilot, SITL, gazebo 11.12, and ROS. The problem is I have to run several simulations and I need to make my simulation faster.

My simulation is running with a real time factor (gazebo) of 0.6 to 1. I already changed real time update rate to 0, and SIM_SPEEDUP to more than 1, but it still remains around 0.6-1. I found that if I use the iris vehicle with ardupilot plugin in an empty world I get 0.6 RTF. If I use iris model without ardupilot plugin, I get around 6 RTF, which would be very good.

Any suggestions on how to increase speed would be much appreciated.
Thank you!

[zeynelgokcek]

Hello,
When I try to run in gazebo11 i get that "parse as sdf 1.7" error. How did u fix it? or did u get an error like that.
cheers