Here's a step-by-step to build a FRR router like we have in the lab. I am still trying to figure out an elegant way to persist this configuration across reboots. It doesn't seem like there's a reasonable way to add network namespaces and dummy interfaces to the standard network startup files (either through netplan or in /etc/network/interfaces), so you may just have to create a script for the interface/vlan/netns config and run it from /etc/rc.local or something like that.
Many thanks to David Belmonte Sola, the content developer that made this work in the first place and sent me his notes.