Add performance report for latest version with minor fixes to scripts

[glpuga]

Proposed changes

• Fixes a permissions issue that prevented scripts in beluga_benchmark from running if not built with --symlink-install
• Adds the --params-file optional argument to the parameterized_run script, which was cited in reports, but was missing from script.
• Adds an up-to-date report comparing beluga_amcl to nav2_amcl, here: link to report
• Includes a summary of the report in the beluga_amcl README.md
• Improves the output of the compare_results.py script by adding a grid to the plots and making the axes logarithmic.

Type of change

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

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)
• All commmits have been signed for DCO

[glpuga]

@nahueespinosa If we confirm these results, the multi threaded configuration should not be the default for normal amounts of particles. Look at the CPU usage for beluga in both cases when particle count is below 2k.

Beluga (non-multithreaded) vs. AMCL

Beluga (multithreaded) vs. AMCL

[glpuga]

I extended the report with results for the beam model too. The report is here: https://github.com/Ekumen-OS/beluga/blob/glpuga/report_may/beluga_benchmark/docs/reports/2023-05-20/REPORT.md

[nahueespinosa]

@glpuga Awesome!

the multi threaded configuration should not be the default for normal amounts of particles

I agree!

[nahueespinosa]

LGTM!