Mujoco Simulation is not running in real time.

[danielsanjosepro]

Problem description

In the package cartesian_controllers_simulation the loop of the thread that runs mujoco is not running in realtime but much faster

 // Simulate in realtime
  while (true)
  {
    mj_step(m, d);

    // Provide fresh data for ROS2-control
    state_mutex.lock();
    syncStates();
    state_mutex.unlock();
  }

It needs a sleep command somewhere to really run in real time. The best choice would be to sync it with the ROS Clock.