Add package to evaluate the impact of the beam skipping feature in nav2

[glpuga]

Proposed changes

Crude benchmark package to compare nav2-vs-nav2, likelihood vs likelihood_prob vs beam_skip.

This is part of a fact finding campaing for Ekumen-OS/beluga#187 .

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

💥 Breaking change! Explain why a non-backwards compatible change is necessary or remove this line entirely if not applicable.

Checklist

Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)

Additional comments

Anything worth mentioning to the reviewers.

[hidmic]

This is great! Two thoughts.

• We can but we don't necessarily have to add another package for a different benchmark. We can accumulate benchmarks in a single package too.
• Tied to the above, eventually I would very much like to move Beluga benchmarks to Beluga. Putting all benchmarks in a single package will simplify that transition while keeping the Beluga repo sane. Either that or we have to start considering a separate Beluga benchmarks repository.

[hidmic]

@glpuga do all these datasets apply here?

[glpuga]

This is great! Two thoughts.

• We can but we don't necessarily have to add another package for a different benchmark. We can accumulate benchmarks in a single package too.
• Tied to the above, eventually I would very much like to move Beluga benchmarks to Beluga. Putting all benchmarks in a single package will simplify that transition while keeping the Beluga repo sane. Either that or we have to start considering a separate Beluga benchmarks repository.

This is not necesarily intended to merge. It's just a quick and dirty benchmark draft to share with @DPR00 to get him up to speed with Ekumen-OS/beluga#187 , sparing him hitting the learning curve head on .

We can later decide what we want to do with this.