beluga_benchmark.py

"""Nominal benchmark for the Beluga AMCL localization system."""
# Copyright 2026 Ekumen, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import lambkin


@lambkin.benchmark(
    variants=lambkin.common.named_product(
        sensor_model=["beam", "likelihood_field"], num_particles=[10, 20, 100]
    ),
    num_iterations=2,
)
@lambkin.option("--clock-rate", default=100.0)
@lambkin.option("--sensor-topic", default="/scan")
@lambkin.option("--dry-run", default=True)
def nominal(ctx):
    """Run a nominal Beluga AMCL benchmark across sensor models and particle counts.

    Launches the Beluga localization stack, plays back a ROS 2 bag,
    and evaluates trajectory accuracy with evo_ape.

    Args:
        ctx: Lambkin context with variant, options, source, and shell access.
    """
    print(ctx)
    ctx.shell.ros2.launch(
        ctx.source.path.parent / "beluga.launch.xml",
        f"sensor_model:={ctx.variant.sensor_model}",
        f"num_particles:={ctx.variant.num_particles}",
    )
    ctx.shell.ros2.bag.play("--clock", "-r", ctx.options.clock_rate)
    ctx.shell.evo_ape.bag2("output.mcap", save_results="out.zip")


@nominal.input
def dataset(ctx):
    """Return the path to the MCAP dataset used as input for the benchmark."""
    return "/mydataset/dataset.mcap"


@nominal.input
def map(ctx):
    """Return the path to the map file used for localization."""
    return "my_map.yaml"


if __name__ == "__main__":
    nominal()