I downloaded the oprofile package and installed it.
To use it, you have to have root privelages, so I created a bash script that I can run under sudo.
#!/usr/bin/env bash export ROS_DOMAIN_ID=8 export RMW_IMPLEMENTATION=rmw_coredx_cpp source <ros2_base_install>/local_setup.bash source <depth_to_pointcloud_install>/local_setup.bash operf /absolute/path/to/depth_to_pointcloud_node
> sudo ./my_bash_script.bash does the trick.
The reason I chose oprofile instead of gprof (or other) is that you can kill the process and it still collects info.
To generate the statistics you have to run:
opreport --symbols