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I typically use normal Linux tools like perf and flame graphs for performance analysis.

You can also use ftrace and catapult to find inter-thread and inter-process interactions that are creating performance bottlenecks.

Unless you're trying to look for performance problems specifically around interactions between nodes, or across a multi-machine ROS system, the standard Linux tools should do very well.

P.S. - I have not used strace as a performance measurement tool. It's fine for introspection, but doesn't seem well suited to measuring performance.