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Does the 0.03Xreal-time issue happen with the plugin substitution suggested above?
Also, can you try profiling a run using valgrind? e.g. update your gazebo node to look like this:
<node alaunch-prefix="valgrind --tool=callgrind --dump-instr=yes --simulate-cache=yes --collect-jumps=yes " name="gazebo" pkg="gazebo" type="gazebo" args="$(optenv SIMX) $(find cob_gazebo_worlds)/common/worlds/empty.world" respawn="false" output="screen"/>
roslaunch cob simulation, let it run for a while. In your ros log directory (usually ~/.ros) there should be a file that looks like calgrind.out.[pid], run kcachegrind on it to see some nice plots.
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