Gazebo Multiple Plane SITL

Hi folks,

I am facing an issue while using multi-vehicle SITL with Gazebo. The “iris” model works flawlessly even with 10 instances following a mission via QGCS (real time factor close to 1). But while running “plane” or “standard_vtol” model, even when they are grounded, the simulation speed real time factor drops down to ~0.1 (even at 2 instances), even lesser when adding more instances.

How do I make sure the “plane” model (multiple instances) also works at a real time factor close to 1?

@Jaeyoung-Lim Can you provide some insights? As you seem to have run a multi-plane sim without any frame drop.