diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
index 424975e384..d415cfdf3b 100644
--- a/src/gazebo_mavlink_interface.cpp
+++ b/src/gazebo_mavlink_interface.cpp
@@ -311,10 +311,10 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf
     double real_time_update_rate = boost::any_cast<double>(param);
     const int real_time_update_rate_int = static_cast<int>(real_time_update_rate + 0.5);
 
-    if (real_time_update_rate_int % 250 != 0)
+    if (real_time_update_rate_int % 200 != 0)
     {
       gzerr << "real_time_update_rate is " << real_time_update_rate_int
-            << " but needs to be multiple of 250 Hz, aborting.\n";
+            << " but needs to be multiple of 200 Hz, aborting.\n";
       abort();
     }
 
diff --git a/worlds/baylands.world b/worlds/baylands.world
index 12823e2b4e..cc11d9f614 100644
--- a/worlds/baylands.world
+++ b/worlds/baylands.world
@@ -40,9 +40,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/boat.world b/worlds/boat.world
index cc71e0ccd7..af64d0850d 100644
--- a/worlds/boat.world
+++ b/worlds/boat.world
@@ -24,9 +24,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/empty.world b/worlds/empty.world
index 08922a0c1f..cac9c57ab4 100644
--- a/worlds/empty.world
+++ b/worlds/empty.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/hippocampus.world b/worlds/hippocampus.world
index 6270f8e73c..2b4eb7ae37 100644
--- a/worlds/hippocampus.world
+++ b/worlds/hippocampus.world
@@ -30,9 +30,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/iris_irlock.world b/worlds/iris_irlock.world
index 2c0117bea5..f556ab16cb 100644
--- a/worlds/iris_irlock.world
+++ b/worlds/iris_irlock.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
 
diff --git a/worlds/ksql_airport.world b/worlds/ksql_airport.world
index 9ca1af1818..e9347a24aa 100644
--- a/worlds/ksql_airport.world
+++ b/worlds/ksql_airport.world
@@ -41,9 +41,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/mcmillan_airfield.world b/worlds/mcmillan_airfield.world
index 2231460a84..43a2654ee3 100644
--- a/worlds/mcmillan_airfield.world
+++ b/worlds/mcmillan_airfield.world
@@ -37,9 +37,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/sonoma_raceway.world b/worlds/sonoma_raceway.world
index 326d538312..7c99b91f07 100644
--- a/worlds/sonoma_raceway.world
+++ b/worlds/sonoma_raceway.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/typhoon_h480.world b/worlds/typhoon_h480.world
index c521955428..fd5db62df8 100644
--- a/worlds/typhoon_h480.world
+++ b/worlds/typhoon_h480.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/uuv_hippocampus.world b/worlds/uuv_hippocampus.world
index 9c4d8bae0c..857e9d1ab7 100644
--- a/worlds/uuv_hippocampus.world
+++ b/worlds/uuv_hippocampus.world
@@ -96,9 +96,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>
diff --git a/worlds/warehouse.world b/worlds/warehouse.world
index 63c7c335df..73beee43f3 100644
--- a/worlds/warehouse.world
+++ b/worlds/warehouse.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
 
diff --git a/worlds/yosemite.world b/worlds/yosemite.world
index 4da88b9cff..4912ab1d9e 100644
--- a/worlds/yosemite.world
+++ b/worlds/yosemite.world
@@ -37,9 +37,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>