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In your .world file, you can specify the desired update rate for Gazebo using the <updateRate> tag.

<physics:ode>
   ...
   <stepTime>STEP_TIME</stepTime>
   <updateRate>UPDATE_RATE</updateRate>
   ...
</physics:ode>

The value of <updateRate> has three configurations:

1. UPDATE_RATE < 0: Gazebo will attempt to run the simulation in real time

2. UPDATE_RATE = 0: Gazebo will attempt to run the simulation as fast as possible

3. UPDATE_RATE > 0: This number will represent the desired physics update frequency. In this case, Gazebo will run STEP_TIME*UPDATE_RATE times reality.

If Gazebo is not able to update at your desired rate, it will update as fast as it can. It's based on the system's computing power, so more nodes = less CPU time for Gazebo.