============================================
  Gazebo Hotspot Analysis: sensors
============================================
  Total samples: 29947842722

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  99.3%  gz::sim::v11::SimulationRunner::Run
  99.3%  gz::sim::v11::ServerPrivate::Run
  99.0%  gz::sim::v11::SimulationRunner::Step
  97.1%  gz::sim::v11::SimulationRunner::UpdateSystems
  92.9%  gz::sim::v11::systems::Physics::Update
  72.2%  gz::sim::v11::systems::PhysicsPrivate::Step
  13.2%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim
   4.5%  gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics
   3.0%  gz::transport::v16::Node::Publisher::HasConnections
   1.3%  Each<...>
   1.2%  gz::sim::v11::systems::SceneBroadcaster::PostUpdate
   1.2%  gz::sim::v11::systems::PhysicsPrivate::CreatePhysicsEntities
   1.0%  gz::transport::v16::Node::Publisher::Valid
   1.0%  gz::sim::v11::SimulationRunner::PublishStats
   1.0%  gz::transport::v16::Publisher::Topic[abi:cxx11]

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  70.3%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ForwardStep::World<...>
  11.2%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim -> void
   2.5%  gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics -> void
   1.2%  gz::sim::v11::systems::Physics::Update -> gz::physics::SpecifyData<...>
   0.9%  gz::transport::v16::Publisher::Topic[abi:cxx11] -> std::__cxx11::basic_string<...>
   0.8%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ExpectData<...>
   0.7%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::SpecifyData<...>
   0.5%  gz::transport::v16::Node::PublisherPrivate::Valid -> std::__cxx11::basic_string<...>
   0.4%  gz::transport::v16::HandlerStorage<...>
   0.4%  gz::transport::v16::Node::Publisher::HasConnections -> lll_mutex_unlock_optimized
   0.4%  gz::sim::v11::systems::Physics::Update -> std::_Rb_tree<...>
   0.3%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim -> gz::physics::EntityPtr<...>
   0.3%  gz::transport::v16::MessagePublisher::MsgTypeName[abi:cxx11] -> std::__cxx11::basic_string<...>
   0.2%  gz::transport::v16::Node::Publisher::HasConnections -> std::__cxx11::basic_string<...>
   0.2%  gz::transport::v16::Node::Publisher::HasConnections -> lll_mutex_lock_optimized

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  70.3%  gz::physics::ForwardStep::World<gz::physics::FeaturePolicy<double,
   0.2%  [[vdso]]
   0.1%  [libdart.so.6.13.2]
   0.1%  ___pthread_mutex_lock
   0.1%  dart::dynamics::Frame::getWorldTransform
   0.0%  dart::dynamics::Frame::World
   0.0%  _int_free
   0.0%  __GI___pthread_mutex_unlock_usercnt
   0.0%  pthread_mutex_unlock@plt
   0.0%  dart::dynamics::BodyNode::clearConstraintImpulse
   0.0%  pthread_mutex_lock@plt
   0.0%  dart::math::verifyTransform
   0.0%  dart::dynamics::Skeleton::clearConstraintImpulses
   0.0%  dart::dynamics::Joint::getRelativeTransform
   0.0%  dart::dynamics::BodyNode::updateVelocityChangeFD

============================================
  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:  99.4%  (optimization opportunity)
  Outside Gazebo:      0.6%  (external threads, drivers, kernel)