Enable recovery retry on Koide outdoor manifests for 180s acceptance.

recovery_retry r3_gap1_seed15 raises outdoor_hard_01a 180s ok rows from 71 to 473
on the public map; document the sweep in benchmarking notes.

Co-authored-by: Cursor <cursoragent@cursor.com>

Author: rsasaki0109

CHANGELOG.md

@@ -19,6 +19,7 @@
 - document Istanbul public demo RMSE run variance; identical seed/map can yield ~`1.2 m` or late-run drift outliers
 - tune public Istanbul 60 s preset with `local_map_crop` and `recovery_retry_from_last_pose` (`r3`, `gap<=1 s`, `seed<=15 m`)
 - reconfirm public regression suite after drift tuning; Istanbul gate `1.00 m` and HDL IMU checks pass (2026-06-10)
+- enable `recovery_retry_from_last_pose` on Koide outdoor manifests; `180 s` acceptance rises from `71` to `473` ok rows
 - guard `use_odom` integration until initial pose is valid and keep pose finite for NDT init guess
 - ignore non-finite `/initialpose` payloads and stop eager scan replay during pose reset
 - v1.1 relocalization is documented as a validated dry-run `/initialpose` command artifact only

docs/benchmarking.md

@@ -113,6 +113,13 @@ ros2 run lidar_localization_ros2 benchmark_from_manifest \
 
 Latest local Koide snapshot:
 
+- `2026-06-10`, `outdoor_hard_01a_smoke60` (baseline): `translation_rmse_m=0.230`, `rotation_rmse_deg=2.607`, `ok_rows=228/229`
+- `2026-06-10`, `outdoor_hard_01a_120` (baseline): `translation_rmse_m=0.192`, `rotation_rmse_deg=1.923`, `ok_rows=441/461`
+- `2026-06-10`, `outdoor_hard_01a_180` (baseline): `translation_rmse_m=0.210`, `ok_rows=71/523` — pose output stops ~`126 s`
+- `2026-06-10`, `outdoor_hard_01a_180` + `recovery_retry r3_gap1_seed15`: `translation_rmse_m=0.255`, `rotation_rmse_deg=2.273`, `ok_rows=473/474`
+- `2026-06-10`, `outdoor_hard_01 window_15_120` recovery compare:
+  - baseline: `translation_rmse_m=5.477`, `matched=138`
+  - `recovery_retry r3_gap1_seed15`: `translation_rmse_m=0.266`, `matched=443`
 - `2026-05-24`, `indoor_easy_01_smoke60`: `translation_rmse_m=0.079`, `rotation_rmse_deg=1.639`, `ok_rows=773/773`
 - `2026-05-24`, `outdoor_hard_01a_smoke60`: `translation_rmse_m=0.209`, `rotation_rmse_deg=2.241`, `ok_rows=223/225`
 - `2026-05-25`, `outdoor_hard_01a_120`: `translation_rmse_m=0.224`, `rotation_rmse_deg=2.083`, `ok_rows=482/499`

param/benchmark/koide_hard_localization_outdoor_hard_01a_120.yaml

@@ -22,6 +22,10 @@ localizer:
     scan_min_range: 1.0
     scan_max_range: 100.0
     score_threshold: 6.0
+    enable_recovery_retry_from_last_pose: true
+    recovery_retry_from_last_pose_min_rejections: 3
+    recovery_retry_from_last_pose_max_accepted_gap_sec: 1.0
+    recovery_retry_from_last_pose_max_seed_translation_m: 15.0
   launch_args:
     - use_sim_time:=true
     - lidar_frame_id:=livox_frame

param/benchmark/koide_hard_localization_outdoor_hard_01a_180.yaml

@@ -0,0 +1,43 @@
+# Koide Hard Point Cloud Localization — outdoor_hard_01a 180 s acceptance boundary.
+# Requires data staged under data/public/koide_hard_localization.
+
+mode: run
+
+dataset:
+  bag_path: repo://data/public/koide_hard_localization/sequences/outdoor_hard_01a
+  map_path: repo://data/public/koide_hard_localization/map_outdoor_hard.ply
+  reference_csv: repo://data/public/koide_hard_localization/benchmark/outdoor_hard_01a/reference.csv
+  initial_pose_yaml: repo://data/public/koide_hard_localization/benchmark/outdoor_hard_01a/initial_pose.yaml
+  cloud_topic: /livox/points
+  imu_topic: /livox/imu
+
+localizer:
+  base_param_yaml: repo://param/nav2_ndt_urban.yaml
+  param_overrides:
+    use_imu: false
+    use_imu_preintegration: false
+    enable_scan_voxel_filter: true
+    voxel_leaf_size: 0.5
+    base_frame_id: livox_frame
+    scan_min_range: 1.0
+    scan_max_range: 100.0
+    score_threshold: 6.0
+    enable_recovery_retry_from_last_pose: true
+    recovery_retry_from_last_pose_min_rejections: 3
+    recovery_retry_from_last_pose_max_accepted_gap_sec: 1.0
+    recovery_retry_from_last_pose_max_seed_translation_m: 15.0
+  launch_args:
+    - use_sim_time:=true
+    - lidar_frame_id:=livox_frame
+
+benchmark:
+  output_dir: /tmp/lidarloc_koide_outdoor_hard_01a_180
+  ros_domain_id: 181
+  bag_duration: 180
+  bag_start_offset: 0
+  settle_seconds: 5
+  post_roll_seconds: 1
+  max_time_diff: 0.05
+  record_qos_reliability: reliable
+  record_qos_durability: volatile
+  record_use_sim_time: true

param/benchmark/koide_hard_localization_outdoor_hard_01a_smoke60.yaml

@@ -22,6 +22,10 @@ localizer:
     scan_min_range: 1.0
     scan_max_range: 100.0
     score_threshold: 6.0
+    enable_recovery_retry_from_last_pose: true
+    recovery_retry_from_last_pose_min_rejections: 3
+    recovery_retry_from_last_pose_max_accepted_gap_sec: 1.0
+    recovery_retry_from_last_pose_max_seed_translation_m: 15.0
   launch_args:
     - use_sim_time:=true
     - lidar_frame_id:=livox_frame