I am not sure why do you want to render the DebugBar using Twig, unless you are trying to measure the rendering performance or something like that (which not need for the DebugBar IMO because it should never reach production anyway).
In any case, you don't need a special plugin, artifact, class or code to display the DebugBar in your Twig rendered page. You can simply do the following:
1) Add the result of the DebugBar renders (Head and Body) in the Array you are using to send variables to Twig. Example:
$template_vars['debugbar_Head'] = $debugbarRenderer->renderHead();
$template_vars['debugbar_Body'] = $debugbarRenderer->render();
2) Add the variables in your template:
<head>
-- other stuff ---
{{ debugbar_Head | raw }}
</head>
<body>
{{ debugbar_Body | raw }}
-- other stuff ---
</body>
Important: make sure your "debugbar_Head" is at the END of the head tag and the "debugbar_Body" at the beginning of the body tag (for some reason it helps prevent rare rendering errors).
3) Render your template normally:
echo $view->render('your-template-path', $template_vars);
Enjoy a Twig rendered page with a fully functional DebugBar on the bottom.
Note: there are some stuff around the web promoting some "mix" of Twig and DebugBar. Please, before try them, check if they are not framework related.