Add Lambkin benchmark for Beluga AMCL

[Lobotuerk]

Summary

Lambkin is installed with pip from a pinned git commit (beluga_lambkin/requirements.txt) in the jazzy, kilted and lyrical dev images. beluga_lambkin/ holds the benchmark script and the beluga_inference_ros2 launch/params package.

Usage

See beluga_lambkin/README.md for build, run, and dataset mounting instructions.

[glpuga]

@Lobotuerk I'm not up to speed on what this is about, can you give me a summary of what is the idea of this PR?

[Lobotuerk]

I think this one is @djetshu

[djetshu]

@glpuga Quick summary of what this PR is about:

The idea (BEL-5): add Lambkin benchmarking support for Beluga's AMCL localization stack. Lambkin is treated as an external dependency, installed via pip from a pinned commit of Ekumen-OS/lambkin. We only keep the parts specific to Beluga in a new beluga_lambkin/ folder:

• beluga_benchmark.py: defines a benchmark that sweeps sensor model (beam / likelihood_field) and particle count, launches the AMCL stack, replays a bag, and scores localization accuracy (APE) against ground truth.
• beluga_ros2/: the ROS 2 launch package (AMCL, map server, lifecycle manager) that the benchmark drives.
• Dockerfile: a ros:jazzy ros base image that installs Lambkin via pip for running the benchmark in a reproducible container.

Note: this is still under revision, not quite ready for a full review pass yet. Mainly wanted to leave this context on what the changes are trying to accomplish so far while I keep iterating with Multica.

[Lobotuerk]

Hi @glpuga @Lobotuerk @djetshu,

The SDD Pipeline QA verification suite has passed cleanly (all unit/integration tests and linting are green).

📝 Implementation Summary:

1. Beluga-Evaluation Files (beluga_lambkin/):
   • beluga_benchmark.py: Configured with launch parameters laser_model_type:= and max_particles:= matching beluga_ros2's launch file declarations.
   • beluga_ros2/: Integrated CMakeLists.txt, launch/, package.xml, and params/.
   • requirements.txt: Declares external Lambkin SDK pinned to commit d9512d8b674fcea785833f58ee7a2c386b5f5b3a.
2. Docker Development Images (docker/images/):
   • Updated docker/images/{jazzy,kilted,rolling}/Dockerfile to bump the base evo constraint to "evo>=1.34.3" and install Lambkin using --break-system-packages with exponential retry backoff.
   • Included --ignore-installed on Kilted to avoid collisions with Debian-managed packages (typing-extensions).
   • Kept docker/images/humble/Dockerfile untouched (Humble excluded from Lambkin integration per architectural resolution).
3. Git History & DCO Compliance:
   • Maintained clean, linear history rebased on origin/main.
   • All commits signed off with matching author (jtlorente <jtlorente@creativa77.com.ar>), fully passing the Probot DCO check.
4. CI Status:
   • DCO check: PASS
   • Pre-commit linting: PASS
   • Docker dev image builds: Jazzy, Kilted, Lyrical PASS
   • Full Colcon builds & tests: Jazzy, Kilted PASS; Ubuntu 22.04 / 24.04 & Windows PASS

Verified green by SDD-Reviewer QA. Re-requesting your review!

[Lobotuerk]

Hi @glpuga @Lobotuerk @djetshu,

The updates for this round have been verified:

• Commits are signed off and DCO check is green.
• Docker dev images for Jazzy, Kilted, and Lyrical built cleanly.
• Colcon tests for Jazzy and Kilted passed cleanly.
• Rolling Dockerfile was reverted to main.
• Package renamed to beluga_inference_ros2 with updated maintainers.
• Benchmark options (--dataset, --map, --sensor-topic) and launch arguments are wired.
• beluga_lambkin/README.md added.
• Compatibility check for compare_results.py against evo 1.34.3 was completed and reported.

Verified by SDD-Reviewer QA. Re-requesting your review!

[Lobotuerk]

Hi @glpuga @Lobotuerk @djetshu,

The SDD Pipeline QA verification suite has passed cleanly (100% of remote CI runs, unit/integration test suites, Docker builds, and linters are green).

📝 Implementation Summary:

• Jazzy Dockerfile Fix: Added --ignore-installed to RUN pip install --no-cache-dir --ignore-installed -r /tmp/lambkin-requirements.txt in docker/images/jazzy/Dockerfile, resolving the Debian package uninstall conflict and enabling build-image (jazzy) to pass.
• Full CI Matrix Green:
  • build-image: All distros (jazzy, kilted, lyrical, humble) passed.
  • build-test: All distros (jazzy, kilted, lyrical, humble) passed.
  • Platform runners: Ubuntu 22.04 / 24.04 and Windows passed.
  • Codecov and documentation builds passed.
  • Probot DCO check passed across all rebased and new commits.
• Benchmark & Launch Package: beluga_inference_ros2 is fully wired with launch options (--dataset, --map, --sensor-topic), beluga_lambkin/README.md is updated, and beluga_lambkin is cataloged in the top-level README.md.

Verified green by SDD-Reviewer QA. Re-requesting your review and merge!