fix(trajectory_selector, trajectory_validator): sync changes to the

[zulfaqar-azmi-t4]

Description

Ports the trajectory selector and validator improvements from the TIER IV feat/v0.64/e2e branch that do not depend on TIER IV-only filters or packages.

Route reaches the validator filters. The crosswalk and traffic light filters need the current route, but the selector never provided it, so both filters rejected every trajectory whenever they were enabled. The selector now subscribes to the route and passes it on.

Missing traffic light input no longer rejects trajectories. On maps without traffic lights, or before the first signal message arrives, the traffic light filter treated the absent input as an error. An absent input is now treated as "no known signals".

Validation results carry risk levels to the caller. The validator now hands the selector the full validation report, including the per-trajectory risk level, instead of only the surviving trajectories. Published topics are unchanged. This prepares for a follow-up PR where the boundary departure filter reports a low caution risk for trajectories running close to an uncrossable boundary.

Filters publish planning factors. Filters can attach planning factors to their result, and the validator publishes them on /planning/planning_factors/trajectory_validator. The crosswalk filter reports a STOP factor naming the obstructing pedestrian when it rejects a trajectory. This makes rejections visible in RViz and to downstream consumers.

Not included: the ranker and adapter integration into the selector node from the TIER IV branch. Upstream keeps autoware_trajectory_ranker and autoware_trajectory_adapter as standalone nodes, and merging them into the selector is an architecture change to be discussed separately.

Related links

Parent Issue:

• None

Source PRs (TIER IV feat/v0.64/e2e):

• feat(trajectory_ranker): implement new ranker module and integrate into selector component tier4/autoware_universe#3208 — route in validator context, validation report exposure
• feat(traffic_light_filter): use empty traffic light message by default tier4/autoware_universe#3251 — empty traffic light message by default
• fix(trajectory_validator): missing planning factor tier4/autoware_universe#3118 — planning factor publishing
• feat(trajectory_validator): evaluate the risk of obstructing pedestrian crossing tier4/autoware_universe#3209 — crosswalk safety factor

How was this PR tested?

Built with -DBUILD_TESTING=ON and ran the package tests:

• autoware_trajectory_validator: 7/7 passed
• autoware_trajectory_selector: 5/5 passed

Notes for reviewers

The route is optional in the selector. Filters that need it return their own error, so a missing route disables those filters only, instead of blocking validation of all trajectories.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Sub	~/input/route	autoware_planning_msgs/msg/LaneletRoute	Route forwarded to validator filters
Added	Pub	/planning/planning_factors/trajectory_validator	autoware_internal_planning_msgs/msg/PlanningFactorArray	Reasons for trajectory rejection

Effects on system behavior

Crosswalk and traffic light filters now work when enabled; previously they rejected every trajectory. Trajectories are no longer rejected on maps without traffic light input. Rejections by the crosswalk filter are visible as planning factors.

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[codecov]

Codecov Report

❌ Patch coverage is 39.13043% with 28 lines in your changes missing coverage. Please review.
✅ Project coverage is 20.49%. Comparing base (f540393) to head (e782c20).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ory_validator/src/trajectory_validator_wrapper.cpp	23.52%	10 Missing and 3 partials ⚠️
...ajectory_selector/src/trajectory_selector_node.cpp	12.50%	3 Missing and 4 partials ⚠️
...ator/src/filters/traffic_rule/crosswalk_filter.cpp	65.00%	0 Missing and 7 partials ⚠️
...tory_validator/src/detail/trajectory_validator.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #13344   +/-   ##
=======================================
  Coverage   20.49%   20.49%           
=======================================
  Files        1948     1948           
  Lines      137202   137244   +42     
  Branches    48933    48953   +20     
=======================================
+ Hits        28113    28126   +13     
- Misses      86314    86326   +12     
- Partials    22775    22792   +17     

Flag	Coverage Δ		*Carryforward flag
daily	?
full-suite	20.48% <ø> (-0.01%)	⬇️	Carriedforward from f540393

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