fix(trajectory_validator): fallback shape filters to base

Author: satoshi-ota

planning/autoware_trajectory_validator/param/parameter_struct.yaml

@@ -88,13 +88,17 @@ validator:
             read_only: false
       enable_assessment:
         base:
-          &drac_ea {
+          &drac_ea_base {
             type: string_array,
             default_value: [bbox],
             description: 'DRAC target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.',
             read_only: false,
           }
-        unknown: *drac_ea
+        unknown: &drac_ea
+          type: string_array
+          default_value: [base]
+          description: DRAC target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.
+          read_only: false
         car: *drac_ea
         truck: *drac_ea
         bus: *drac_ea
@@ -268,13 +272,17 @@ validator:
     rss:
       enable_assessment:
         base:
-          &rss_ea {
+          &rss_ea_base {
             type: string_array,
             default_value: [bbox, polygon],
             description: 'RSS target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.',
             read_only: false,
           }
-        unknown: *rss_ea
+        unknown: &rss_ea
+          type: string_array
+          default_value: [base]
+          description: RSS target Shape types per class. Supported values are bbox and polygon. Use [""] to disable the class.
+          read_only: false
         car: *rss_ea
         truck: *rss_ea
         bus: *rss_ea

planning/autoware_trajectory_validator/schema/trajectory_validator.schema.json

@@ -70,6 +70,7 @@
     },
     "target_shapes_override": {
       "type": "array",
+      "default": ["base"],
       "oneOf": [
         {
           "minItems": 1,

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

@@ -16,6 +16,8 @@
 
 #include "assessment.hpp"
 
+#include <rclcpp/logging.hpp>
+
 #include <fmt/core.h>
 
 #include <algorithm>
@@ -29,6 +31,20 @@
 
 namespace autoware::trajectory_validator::plugin::safety
 {
+namespace
+{
+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::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(),
+    target_shape_types.bbox ? "true" : "false", target_shape_types.polygon ? "true" : "false");
+}
+}  // namespace
+
 void CollisionCheckFilter::update_parameters(const validator::Params & node_params)
 {
   global_params_ = GlobalParams(node_params.collision_check.global_setting);
@@ -38,6 +54,13 @@ void CollisionCheckFilter::update_parameters(const validator::Params & node_para
 
   drac_param_map_ = create_param_map_per_object<DracParams>(node_params);
   rss_param_map_ = create_param_map_per_object<RssParams>(node_params);
+
+  for (const auto & [class_name, params] : drac_param_map_) {
+    log_target_shape_type_params("DRAC", class_name, params.target_shape_types);
+  }
+  for (const auto & [class_name, params] : rss_param_map_) {
+    log_target_shape_type_params("RSS", class_name, params.target_shape_types);
+  }
 }
 
 void CollisionCheckFilter::clear_detection_times()