Setup profiler

[chapulina]

Ignition Common's profiler is very handy to debug performance.

This PR just sets up the profiler and makes use of the existing profiling points.

See the snippet added to the README for how to enable and use it. In order to get profiling points coming from the Gazebo libraries themselves, they need to be compiled from source with -DENABLE_PROFILER=1.

Here's some example output. I was surprised to see that the PolytropicPneumaticSpring is taking up almost as much time as the physics' forward step.

[hamilton8415]

This is great, glad to see such a tool exists. I was surprised that the ElectroHydraulicPTO plugin didn't win the award. I know for sure there's some optimizations in there still to chase.

[andermi]

the PolytropicPneumaticSpring is taking up almost as much time as the physics' forward step

Most likely my debug console printouts. I can remove most of them now.

[andermi]

@chapulina when I try this, I don't see SimulationRunner in the Remotery window

[chapulina]

when I try this, I don't see SimulationRunner in the Remotery window

Did you compile all of Ignition Fortress from source with -DENABLE_PROFILER=1? If you haven't, you'll only see the profiling points from buoy_gazebo.

Other tips to navigate the UI may also help here. Use the scroll wheel to zoom in a bit more time-wise, and click on the + button a few times next to Thread0 to see more lines. The Pause button on the top-right also helps.

[andermi]

Did you compile all of Ignition Fortress from source

Ah, that's the issue. Thanks!

[andermi]

There, I fixed it! 🥇

[andermi]

👍

It also might be worth mentioning that I had to run:
colcon build --cmake-args ' -DBUILD_TESTING=true' ' -DENABLE_PROFILER=0'
in my workspace to get colcon test to work again (even on other branches... since it's in the cmake in build folder in top level workspace)

[chapulina]

It also might be worth mentioning that I had to run:

Ahh good call, it took me a while to figure that out the first time I needed it, it's definitely worth mentioning.