Rework beluga_benchmark using LAMBKIN

beluga_benchmark/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright 2023 Ekumen, Inc.
+# Copyright 2024 Ekumen, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,30 +15,17 @@
 cmake_minimum_required(VERSION 3.16)
 project(beluga_benchmark)
 
-set(ROS_VERSION $ENV{ROS_VERSION})
-if(NOT ROS_VERSION)
-  if(CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
-    set(ROS_VERSION 1)
-  else()
-    find_package(ament_cmake QUIET)
-    if(ament_cmake_FOUND)
-      set(ROS_VERSION 2)
-    endif()
-  endif()
-endif()
-if(ROS_VERSION EQUAL 2)
-  find_package(ament_cmake REQUIRED)
-  find_package(ament_cmake_python REQUIRED)
-  find_package(beluga_amcl REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-  ament_python_install_package(${PROJECT_NAME})
+install(PROGRAMS scripts/nominal.robot scripts/swept.robot
+                 scripts/ndt_swept.robot DESTINATION lib/${PROJECT_NAME})
 
-  install(DIRECTORY scripts/profiling scripts/benchmarking
-                    USE_SOURCE_PERMISSIONS DESTINATION lib/${PROJECT_NAME})
+install(
+  DIRECTORY config
+            params
+            launch
+            reports
+  DESTINATION share/${PROJECT_NAME})
 
-  ament_package()
-elseif(ROS_VERSION EQUAL 1)
-  install(CODE "message(STATUS 'Nothing to be done')")
-else()
-  message(FATAL_ERROR "Unknown ROS distribution version: ${ROS_VERSION}")
-endif()
+ament_package()

beluga_benchmark/README.md

@@ -1,9 +1,8 @@
 # Beluga Benchmark
 
-This package contains scripts to benchmark, profile and also compare Beluga AMCL with other implementations.
+This package contains scripts to benchmark, profile, and also compare Beluga AMCL with other implementations.
 
 ## Getting Started
 
-- View [reports](docs/reports/) comparing Beluga's performance to other AMCL implementations.
 - [How to benchmark Beluga?](docs/BENCHMARKING.md)
 - [How to profile Beluga?](docs/PROFILING.md)