The simulation team at Open Robotics is happy to announce a time profile data from key sections of simulation execution for Gazebo 11 and 9! You can also use the profiler with gazebo_plugins for ROS (branch: noetic-devel) and ROS 2 (branch: ros2).
This new feature is not available in the deb packages. You need to compile the Gazebo and gazebo_ros_pkgs from sources. Review the tutorial links above.
For example, you can see how the physics engine is performing:
Happy Simulating!
The Ignition Dev Team