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see for example throttled world, by adding an <update_rate> tag to the physics section of the world file:

<physics type="ode" update_rate="1000">
  <gravity xyz="0 0 -9.8"/>
  <ode>
    <solver type="quick" dt="0.001" iters="10" sor="1.3"/>
    <constraints cfm="0.0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.001"/>
  </ode>
</physics>

Where update_rate * dt is the upper bound for the real-time factor of the simulation.

see There were some bugs in the spawn_model script, waiting for example throttled worldservices in the wrong namespace. This should be fixed by the next release 1.6.13.

For now, things should work if you change your gazebo node name to gazebo, by adding an <update_rate> tag to the physics section of the world file:e.g.:

<physics type="ode" update_rate="1000">
  <gravity xyz="0 0 -9.8"/>
  <ode>
    <solver type="quick" dt="0.001" iters="10" sor="1.3"/>
    <constraints cfm="0.0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.001"/>
  </ode>
</physics>
<node name="gazebo" pkg="gazebo" type="gazebo" args="..."/>