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The Orocos component is not synchronized with the Gazebo simulation. Can you check the frequency of the data that is spit out by gazebo? Having your controller running faster than this usually makes no sense ;)

You could make your controller data driven, which means it will do a new control-loop when new data is available by adding your InputPorts as EventPorts: addEventPort(your_inputport) and making the component NOT periodic. Then the component will only wake up when new data is received. You can find more information here: http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-components-manual.html#id520378

This way your controller will be synchronized with gazebo, it will still be realtime but it will probably not run at 1 kHz.