RTX rotary lidar completes a full scan far slower than configured scanRateBaseHz, even using the writer (not polling) publish path

[agniva22]

I have an RTX rotary lidar configured for scanRateBaseHz = 5.5 (RPLIDAR A1-equivalent), publishing to ROS2 using LidarSensor(...).attach_writer("RtxLidarROS2PublishLaserScan", ...) - the writer/SDG path, not get_current_frame() polling.

What I'm expecting: a full LaserScan message roughly every 0.18s (5.5 Hz).

What I observed: a full scan completes roughly once every 2–8 seconds, means, 10–40× slower than configured. Camera and odom on the same scene run fine at their configured rates (~29 Hz, 60 Hz respectively) at the same time, so it isn't general render starvation.

Things I've tried, none of which changed the result:

1. Explicitly setting omni:sensor:tickRate to equal omni:sensor:Core:scanRateBaseHz.
2. Enabling /rtx/rendering/perSensorTickTlas — no measurable change, and the "MotionBVH for lidar model not enabled" warning still printed even with it set True, suggesting the setting isn't taking effect at all from this call site.
3. Replacing my custom sensor config with Isaac's own real vendor asset (Slamtec_RPLIDAR_S2E.usd) instead of a generic template - identical slow throughput.

Environment I'm using: Isaac Sim 6.0.0, /rtx/hydra/supportMultiTickRate = True.

Related but likely distinct: #674 describes a similar-sounding symptom, but its root cause was polling using get_current_frame() racing the render loop, I'm not polling, so that fix doesn't apply here. Is there another known cause for a full-scan completion rate this far below the configured scanRateBaseHz?

[zwdoescode]

@agniva22 Isaac Sim 6.1 has released. Have you tried it and see if the issue is reproducible?