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Leo Drive compressed-playback evidence — 2026-08-16

Outcome

Implementation tip: 92bb5246fd46255c0557444eb1489b55bb29dc96.

The exact clean implementation tip satisfies the blocking leo_drive_applanix_velodyne_cross release profile at TARGET_MET. It also keeps rosbag2 FILE decompression out of the source dataset directory and removes the private playback view automatically after the run. This is Applanix cross-validation, not independent ground truth, a GLIM execution, or release authority.

Current product-Draft rerun carrier — 2026-08-17

The clean public Draft carrier 4163b8c6f0ebb63504a0de398d9654333bf3919e was rerun against the same byte-identified compressed input before this evidence synchronization. The 36.513-second bag completed in 79.37 seconds of wall time with 89,012 KiB maximum resident memory. The schema-valid output records:

Measurement Result
aligned Applanix cross-validation APE RMSE 0.1391520544 m
release-profile pass threshold 1.500 m
release-profile target 0.500 m
profile status TARGET_MET
matched poses 571
raw trajectory APE RMSE 0.2697120408 m
lidarslam real-time factor 1.568992

The exact carrier output identities are:

  • metrics.json SHA-256: 76d6465729a7c48a46919d2b1029996393be6d0e615a893fee28440637963627;
  • map.pcd SHA-256: cf54234f0a75b341ea03c0e079559db281510a03e4251ebc9c25780063d2b3ab;
  • generated reference TUM SHA-256: 98ea2825378036b2bad838cdff921540bcd4abd050f33b80ba35c5b9db4dba26;
  • map verification: 8 PASS / 1 informational WARN / 0 FAIL.

The output provenance names that exact Git commit, records a clean worktree, and retains all input, parameter, harness, writer, and runtime-artifact identities. The source-side uncompressed DB3 remained absent, the isolated 2,506,907,648-byte playback view was removed on exit, and the hard profile gate reduced from five to four blocking NO_DATA rows. Because this Markdown update creates a later docs-only commit, the later exact candidate must rerun the benchmark; this carrier must not be relabeled as that later head.

Exact input identity

The local Leo Drive all-sensors-bag1 input retained these identities before and after playback:

Artifact Size SHA-256
metadata.yaml 9,685 bytes b3920a457de09655a1a473740e21609a88b910799787f8b7c0f8bd66c475bc83
all-sensors-bag1_compressed_0.db3.zstd 1,853,512,774 bytes b22ae495641c797ac540383c0059038a0c86548359b5ec7ed42f515e4f2cf667
streamed uncompressed SQLite content 2,506,907,648 bytes 74e5915719a7b7b4820b5339207eeade0c656deaa38b8e5b5e8d18787a58ac22

The wrapper selected the front packet topic /sensing/lidar/front/velodyne_packets, native /gnss/fix, and frame velodyne_front. Its generated Applanix reference TUM SHA-256 was 98ea2825378036b2bad838cdff921540bcd4abd050f33b80ba35c5b9db4dba26.

User-facing storage behavior

Before playback, the source-side uncompressed all-sensors-bag1_compressed_0.db3 did not exist. During playback, ROS 2 created the expected 2,506,907,648-byte database only under the run output's marker-backed .lidarslam-rosbag2-playback-* directory. The source-side file remained absent. On normal exit, the wrapper reported removed_playback_staging, the private directory was absent, and the source compressed file retained the same SHA-256.

The same helper is used by the full benchmark and smoke wrappers. It passes ordinary uncompressed bags through unchanged, validates compressed storage paths before linking them into the private view, and refuses to delete a directory without the expected name, direct-parent relationship, and marker.

Exact-head result

The 36.513-second bag completed in 79.52 seconds of wall time with 89,164 KiB maximum resident memory. The schema-valid metrics.json recorded:

Measurement Result
aligned Applanix cross-validation APE RMSE 0.1391520544 m
release-profile pass threshold 1.500 m
release-profile target 0.500 m
profile status TARGET_MET
matched poses 571
raw trajectory APE RMSE 0.2697120408 m
estimated path length 95.439811 m
lidarslam real-time factor 1.570325

The output identities were:

  • metrics.json SHA-256: 85dea38125a96d2b95f43c6267c5c4b384b1569750f53e9ef5ef787a14d12ba0;
  • map.pcd SHA-256: cf54234f0a75b341ea03c0e079559db281510a03e4251ebc9c25780063d2b3ab;
  • map verification: 8 PASS / 1 informational WARN / 0 FAIL.

The hard release-profile command still exited 2, correctly leaving four blocking profiles at NO_DATA:

  • newer_college_math_hard;
  • ntu_viral_tnp_01;
  • mid360_gt_rtkslam_construction_seq2; and
  • mid360_gt_rtkslam_construction_seq1.

Six historical/report-only rows remain separate and do not block the current gate. No tag, release, image, upload, issue, or community mutation was performed.