============================================
  Gazebo Hotspot Analysis: gpu_lidar_sensor
============================================
  Total samples: 38094281820

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  1. Optimization targets (inclusive time)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  Gazebo functions ranked by total CPU spent under them
  (including all children). If you optimize or remove one
  of these functions, you'd save up to this % of CPU.
  These are the primary optimization candidates.

  72.5%  gz::sim::v11::SimulationRunner::Run
  72.5%  gz::sim::v11::ServerPrivate::Run
  72.2%  gz::sim::v11::SimulationRunner::Step
  70.6%  gz::sim::v11::SimulationRunner::UpdateSystems
  64.2%  gz::sim::v11::systems::Physics::Update
  59.2%  gz::sim::v11::systems::PhysicsPrivate::Step
  25.7%  gz::sim::v11::systems::SensorsPrivate::RunOnce
  25.7%  gz::sim::v11::systems::SensorsPrivate::RenderThread
  24.3%  gz::sensors::v11::Manager::RunOnce
  24.3%  gz::sensors::v11::Sensor::Update
  24.2%  gz::sensors::v11::GpuLidarSensor::Update
  20.1%  gz::sensors::v11::RenderingSensor::Render
  10.4%  gz::rendering::v11::Ogre2GpuRays::Render
   9.6%  gz::rendering::v11::Ogre2GpuRays::UpdateRenderTarget1stPass
   9.2%  gz::rendering::v11::Ogre2GpuRays::PostRender

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  2. What Gazebo functions call (attribution)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  For each sample, finds the nearest Gazebo function in the
  stack and shows what external function it called. Format:
  GazeboFunc -> ExternalFunc. Shows where optimizing the
  Gazebo caller would reduce external library cost.

  57.7%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ForwardStep::World<...>
   4.7%  gz::rendering::v11::Ogre2GpuRays::UpdateRenderTarget1stPass -> [libnvidia-eglcore.so.580.159.03]
   4.4%  gz::rendering::v11::Ogre2GpuReadbackTicket::DownloadAndMap -> [[vdso]]
   3.4%  gz::rendering::v11::Ogre2GpuReadbackTicket::DownloadAndMap -> [libnvidia-eglcore.so.580.159.03]
   0.9%  gz::sim::v11::systems::Physics::Update -> gz::physics::SpecifyData<...>
   0.7%  gz::sim::v11::systems::Sensors::PostUpdate -> unsigned
   0.7%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ExpectData<...>
   0.6%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::SpecifyData<...>
   0.6%  gz::transport::v16::Node::Publisher::Publish -> unsigned
   0.4%  gz::sim::v11::RenderUtilPrivate::CreateEntitiesRuntime -> void
   0.3%  gz::rendering::v11::Ogre2GpuRays::UpdateRenderTarget2ndPass -> [libnvidia-eglcore.so.580.159.03]
   0.3%  gz::sim::v11::systems::Physics::Update -> std::_Rb_tree<...>
   0.3%  gz::transport::v16::Publisher::Topic[abi:cxx11] -> std::__cxx11::basic_string<...>
   0.3%  gz::sim::v11::RenderUtilPrivate::RemoveRenderingEntities -> entt::basic_common_view<...>
   0.3%  gz::rendering::v11::Ogre2Scene::FlushGpuCommandsOnly -> [libnvidia-eglcore.so.580.159.03]

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  3. External costs (context)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  Top CPU consumers in external libraries (DART, ODE, Ogre,
  glibc, etc.). Not directly actionable, but shows where
  the CPU actually executes. See section 2 for which Gazebo
  function is responsible for each.

  57.7%  gz::physics::ForwardStep::World<gz::physics::FeaturePolicy<double,
   8.9%  [libnvidia-eglcore.so.580.159.03]
   4.7%  [[vdso]]
   0.5%  [unknown]
   0.4%  Ogre::Node::updateFromParentImpl
   0.3%  ___pthread_mutex_lock
   0.2%  Ogre::SceneManager::cullFrustum
   0.2%  Ogre::RenderQueue::render
   0.1%  Ogre::SceneManager::updateAllLodsThread
   0.1%  Ogre::MovableObject::cullFrustum
   0.1%  __memcpy_avx_unaligned_erms
   0.1%  __memset_avx2_unaligned_erms
   0.1%  Ogre::Node::convertLocalToWorldPosition
   0.1%  Ogre::HlmsPbs::preparePassHash
   0.1%  Ogre::Quaternion::zAxis

============================================
  Summary
============================================
  How much CPU runs under a Gazebo function in the call stack?
  This is the portion we can influence by changing Gazebo code.

  Under Gazebo code:  98.5%  (optimization opportunity)
  Outside Gazebo:      1.5%  (external threads, drivers, kernel)