diff --git a/include/gz/common/SingletonT.hh b/include/gz/common/SingletonT.hh
index ecde948d..0724c582 100644
--- a/include/gz/common/SingletonT.hh
+++ b/include/gz/common/SingletonT.hh
@@ -41,6 +41,7 @@ namespace gz
       /// \brief Creates and returns a reference to the unique (static) instance
       private: static T &GetInstance()
       {
+        // Caution: object `t` will be duplicated in each translation unit
         static T t;
         return static_cast<T &>(t);
       }
diff --git a/profiler/include/gz/common/Profiler.hh b/profiler/include/gz/common/Profiler.hh
index 69b93d61..11c330b6 100644
--- a/profiler/include/gz/common/Profiler.hh
+++ b/profiler/include/gz/common/Profiler.hh
@@ -100,6 +100,9 @@ namespace gz
       /// \brief Detect if profiler is enabled and has an implementation
       public: bool Valid() const;
 
+      /// \brief Get an instance of the singleton
+      public: static Profiler *Instance();
+
       /// \brief Pointer to the profiler implementation
       private: ProfilerImpl *impl;
 
diff --git a/profiler/src/Profiler.cc b/profiler/src/Profiler.cc
index 1eeb11ea..67d41187 100644
--- a/profiler/src/Profiler.cc
+++ b/profiler/src/Profiler.cc
@@ -115,3 +115,10 @@ bool Profiler::SetImplementation(std::unique_ptr<ProfilerImpl> _impl)
   gzdbg << "Gazebo profiling with: " << this->impl->Name() << std::endl;
   return true;
 }
+
+//////////////////////////////////////////////////
+Profiler *Profiler::Instance()
+{
+  static Profiler profiler;
+  return &profiler;
+}