diff --git a/interfaces/ros1/wavemap/CMakeLists.txt b/interfaces/ros1/wavemap/CMakeLists.txt
index 6c157c5a2..996b3fdb3 100644
--- a/interfaces/ros1/wavemap/CMakeLists.txt
+++ b/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_io)
 append_to_catkin_tests(test_wavemap_core)
+append_to_catkin_tests(test_wavemap_io)
 
 # 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")
diff --git a/library/cpp/CMakeLists.txt b/library/cpp/CMakeLists.txt
index 39c81ec8d..400cf4c41 100644
--- a/library/cpp/CMakeLists.txt
+++ b/library/cpp/CMakeLists.txt
@@ -11,6 +11,7 @@ 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)
diff --git a/library/cpp/cmake/find-wavemap-deps.cmake b/library/cpp/cmake/find-wavemap-deps.cmake
index 695f0c98e..195945ec3 100644
--- a/library/cpp/cmake/find-wavemap-deps.cmake
+++ b/library/cpp/cmake/find-wavemap-deps.cmake
@@ -55,4 +55,14 @@ else ()
 endif ()
 
 # Optional dependencies
-find_package(tracy QUIET)
+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 ()
diff --git a/library/cpp/cmake/wavemap-extras.cmake b/library/cpp/cmake/wavemap-extras.cmake
index 33aa2e3cb..2cdae7cdf 100644
--- a/library/cpp/cmake/wavemap-extras.cmake
+++ b/library/cpp/cmake/wavemap-extras.cmake
@@ -38,6 +38,11 @@ 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)
diff --git a/library/cpp/src/core/CMakeLists.txt b/library/cpp/src/core/CMakeLists.txt
index a48abab05..00f39baa6 100644
--- a/library/cpp/src/core/CMakeLists.txt
+++ b/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)
+if (Tracy_FOUND)
+  target_link_libraries(wavemap_core PUBLIC TracyClient dl)
 endif ()
 
 # Set sources