It seems that there are few PRs upstream targeting the Physics system that will be merged upstream in the next few days. I'll leave this PR open for few more days, maybe I can include them here as well.

Note: this PR breaks the compatibility with Ignition distributions older than Edifice. Unfortunately, if we want to keep our current branching policy and keep the Physics system aligned with upstream, we cannot guarantee (as documented) backward compatibility with previous distributions.

I think this make sense, all of the Ignition is quite new so depending on the latest release make totally sense.

In this PR, I also enabled the support to the profiler that could be helpful to debug #319. As soon as I start this task, I'll write a short tutorial in Discussions. In the meantime, let's refer to the upstream's documentation.

Reminder for my future self. In 21c9233 I disabled some lines introduced in gazebosim/gz-sim#678 that were causing paused step to behave weird. Probably there's something strange in the caching of the link poses. Commenting out these lines and forcing the changed state in 4cab097 fixed the visualization. There's some upstream effort to run server and gui in the same process, as soon as they will implement it, network transport is no longer needed and these problems should not arise.

Reminder: I have to squash and merge this time.

More details about the broadcasting of the Pose components for paused steps implemented in 4cab097 can be found in gazebosim/gz-sim#544.