Revert "Reintroduce the option to profile with Tracy"

This reverts commit 75f4edf, as we believe its changes are not yet ready for release. Tracy is configured through CMake options, part of which are converted to C++ compile definitions. Since they affect both Tracy's binary and headers, the same options/definitions must be set when compiling Tracy's system library, wavemap C++ library (CMake), and its ROS1 interface (catkin). A complicating factor is that catkin ignores standard CMake features like inheriting a linked library's PUBLIC definitions. We will reintroduce Tracy-support once we find a cleaner, less error-prone way to integrate it into the project.

interfaces/ros1/wavemap/CMakeLists.txt

@@ -27,8 +27,8 @@ add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../../library/cpp
 
 # Include the library's tests in catkin's run_tests target
 include(cmake/append_to_catkin_tests.cmake)
-append_to_catkin_tests(test_wavemap_core)
 append_to_catkin_tests(test_wavemap_io)
+append_to_catkin_tests(test_wavemap_core)
 
 # Support installs
 # Mark targets for installation
@@ -38,6 +38,6 @@ install(TARGETS wavemap_core wavemap_io wavemap_pipeline
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 # Mark headers for installation
 install(DIRECTORY
-    "${CMAKE_CURRENT_SOURCE_DIR}/../../../library/cpp/include/wavemap/"
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../library/cpp/include/wavemap/
     DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
     FILES_MATCHING PATTERN "*.h")

library/cpp/CMakeLists.txt

@@ -11,7 +11,6 @@ option(BUILD_SHARED_LIBS
 option(USE_SYSTEM_EIGEN "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_GLOG "Use system pre-installed glog" ON)
 option(USE_SYSTEM_BOOST "Use system pre-installed Boost" ON)
-option(TRACY_ENABLE "Enable profiling with Tracy" OFF)
 
 # CMake helpers and general wavemap tooling (e.g. to run clang-tidy CI)
 include(GNUInstallDirs)

library/cpp/cmake/find-wavemap-deps.cmake

@@ -55,14 +55,4 @@ else ()
 endif ()
 
 # Optional dependencies
-if (TRACY_ENABLE)
-  find_package(Tracy QUIET)
-  if (NOT Tracy_FOUND)
-    message(FATAL_ERROR
-        "Profiling is enabled (TRACY_ENABLE=ON), but Tracy is not available. "
-        "Please switch it to OFF or install Tracy as a system package with: "
-        "cmake -S . -B build -DTRACY_ENABLE=ON -DBUILD_SHARED_LIBS=true "
-        "-DCMAKE_BUILD_TYPE=Release && cmake --build build --parallel && "
-        "sudo make install")
-  endif ()
-endif ()
+find_package(tracy QUIET)

library/cpp/cmake/wavemap-extras.cmake

@@ -38,11 +38,6 @@ function(set_wavemap_target_properties target)
   # General C++ defines
   target_compile_definitions(${target} PUBLIC EIGEN_INITIALIZE_MATRICES_BY_NAN)
 
-  # Profiling related C++ defines
-  if (TRACY_ENABLE)
-    target_compile_definitions(${target} PUBLIC TRACY_ENABLE)
-  endif ()
-
   # Conditional compilation options
   if (DCHECK_ALWAYS_ON)
     target_compile_definitions(${target} PUBLIC DCHECK_ALWAYS_ON)

library/cpp/src/core/CMakeLists.txt

@@ -7,8 +7,8 @@ set_wavemap_target_properties(wavemap_core)
 add_wavemap_include_directories(wavemap_core)
 target_link_libraries(wavemap_core
     PUBLIC Eigen3::Eigen glog Boost::preprocessor)
-if (Tracy_FOUND)
-  target_link_libraries(wavemap_core PUBLIC TracyClient dl)
+if (tracy_FOUND)
+  target_link_libraries(wavemap_core PUBLIC TracyClient)
 endif ()
 
 # Set sources