[BUG] Simulation has poor performance

[benjaminwp18]

Describe the bug

The simulation is at like 50% speed and it's still frame-y.

To Reproduce

Steps to reproduce the behavior:

1. Open src/surface/rov_gazebo/README.md
2. Follow the instructions
3. Run the simulation

Suggestion

Some of the models look a little more high-poly than necessary (valve manip maybe)