Gazebo Performance Profiling

CPU flamegraph benchmarks for Gazebo. Each run captures interactive flamegraphs across representative simulation worlds.

Benchmark Runs

DateDescriptionReport
2026-07-03 Gazebo GUI process profiling on PR #3447 (EnTT ECM). 4 worlds, NVIDIA RTX PRO 3000, sim playing. The render thread dominates (90-91% on the 3k worlds); the per-frame Ogre2Scene::PreRender scene-graph walk is the bottleneck. PDF
2026-04-21 Initial profiling study: 7 worlds (3k_shapes static/dynamic, sensors, jetty, gpu_lidar, sensors_demo). gz-sim 11.0.0-pre1, DART 6.13.2. PDF

Generated with FlameGraph and Linux perf.