fix(trajectory_validator): fallback shape filters without base value

Author: satoshi-ota

planning/autoware_trajectory_validator/param/parameter_struct.yaml

@@ -96,7 +96,7 @@ validator:
           }
         unknown: &drac_ea
           type: string_array
-          default_value: [base]
+          default_value: []
           description: DRAC target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.
           read_only: false
         car: *drac_ea
@@ -280,7 +280,7 @@ validator:
           }
         unknown: &rss_ea
           type: string_array
-          default_value: [base]
+          default_value: []
           description: RSS target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.
           read_only: false
         car: *rss_ea

planning/autoware_trajectory_validator/schema/trajectory_validator.schema.json

@@ -28,8 +28,17 @@
       "properties": {
         "base": {
           "type": "array",
-          "minItems": 1,
-          "items": { "enum": ["bbox", "polygon"] },
+          "oneOf": [
+            {
+              "minItems": 1,
+              "items": { "enum": ["bbox", "polygon"] }
+            },
+            {
+              "minItems": 1,
+              "maxItems": 1,
+              "items": { "const": "" }
+            }
+          ],
           "default": ["bbox"]
         },
         "unknown": { "$ref": "#/definitions/target_shapes_override" },
@@ -70,21 +79,19 @@
     },
     "target_shapes_override": {
       "type": "array",
-      "default": ["base"],
+      "default": [],
       "oneOf": [
         {
-          "minItems": 1,
-          "items": { "enum": ["bbox", "polygon"] }
+          "maxItems": 0
         },
         {
           "minItems": 1,
-          "maxItems": 1,
-          "items": { "const": "" }
+          "items": { "enum": ["bbox", "polygon"] }
         },
         {
           "minItems": 1,
           "maxItems": 1,
-          "items": { "const": "base" }
+          "items": { "const": "" }
         }
       ]
     },
@@ -93,8 +100,17 @@
       "properties": {
         "base": {
           "type": "array",
-          "minItems": 1,
-          "items": { "enum": ["bbox", "polygon"] },
+          "oneOf": [
+            {
+              "minItems": 1,
+              "items": { "enum": ["bbox", "polygon"] }
+            },
+            {
+              "minItems": 1,
+              "maxItems": 1,
+              "items": { "const": "" }
+            }
+          ],
           "default": ["bbox", "polygon"]
         }
       }

planning/autoware_trajectory_validator/src/filters/safety/collision_check_filter/collision_check_filter.cpp

@@ -37,7 +37,7 @@ void log_target_shape_type_params(
   const std::string_view assessment_name, const std::string_view class_name,
   const TargetShapeTypeParams & target_shape_types)
 {
-  RCLCPP_DEBUG(
+  RCLCPP_INFO(
     rclcpp::get_logger("CollisionCheckFilter"),
     "%s collision target shape types: class=%s, bbox=%s, polygon=%s",
     std::string(assessment_name).c_str(), std::string(class_name).c_str(),

planning/autoware_trajectory_validator/src/filters/safety/collision_check_filter/parameter.hpp

@@ -154,10 +154,7 @@ OutT extract_labeled_param(const ParamStruct & params_struct, const std::string_
     } else if constexpr (std::is_same_v<OutT, std::string>) {
       return static_cast<OutT>(label_value.empty() ? params_struct.base : label_value);
     } else if constexpr (std::is_same_v<OutT, std::vector<std::string>>) {
-      return static_cast<OutT>(
-        label_value.size() == 1U && label_value.front() == kCollisionCheckParamBaseKey
-          ? params_struct.base
-          : label_value);
+      return static_cast<OutT>(label_value.empty() ? params_struct.base : label_value);
     } else {
       return static_cast<OutT>(label_value);
     }