Change compile time check for ParamsType in API::spawn

Change behavior from not matching the templated function to matching to everything, but then asserting the correct types. This better reflects the intention, as we do not want to match some other function for different types, but to terminate the compilation

Signed-off-by: Mateusz Palczuk <mateusz.palczuk@robotec.ai>

simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

@@ -110,12 +110,7 @@ class API
   auto updateFrame() -> bool;
 
   // entities, ego - spawn
-  template <
-    typename PoseType, typename ParamsType,
-    typename = std::enable_if_t<std::disjunction_v<
-      std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::VehicleParameters>,
-      std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::PedestrianParameters>,
-      std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::MiscObjectParameters>>>>
+  template <typename PoseType, typename ParamsType>
   auto spawn(
     const std::string & name, const PoseType & pose, const ParamsType & parameters,
     const std::string & behavior = "", const std::string & model3d = "") -> entity::EntityBase &
@@ -124,6 +119,14 @@ class API
     using PedestrianParameters = traffic_simulator_msgs::msg::PedestrianParameters;
     using MiscObjectParameters = traffic_simulator_msgs::msg::MiscObjectParameters;
 
+    static_assert(
+      std::disjunction_v<
+        std::is_same<std::decay_t<ParamsType>, VehicleParameters>,
+        std::is_same<std::decay_t<ParamsType>, PedestrianParameters>,
+        std::is_same<std::decay_t<ParamsType>, MiscObjectParameters>>,
+      "ParamsType must be either a VehicleParameters, a PedestrianParameters, or a "
+      "MiscObjectParameters");
+
     auto register_to_entity_manager = [&]() -> entity::EntityBase & {
       if constexpr (std::is_same_v<ParamsType, VehicleParameters>) {
         if (behavior == VehicleBehavior::autoware()) {