refactor(planning_test_utils): add subscriber existance checker and topic name validation

[kyoichi-sugahara]

Description

• Add feature to throw an error if there is no subscriber for the topic being published from test_node
• Add feature to throw an error if the name of the topic being published from test_node is not defined
• Function consolidation
• Remove ament_cmake_gtest dependency from the planning_test_utils package
• Move the message generation for publishing from the test_node to utils

Tests performed

run the test with following command and all success

colcon test --event-handlers console_cohesion+ --packages-select behavior_path_planner planning_validator motion_velocity_smoother motion_velocity_smoother obstacle_stop_planner obstacle_stop_planner obstacle_stop_planner freespace_planne

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage: 14.94% and project coverage change: -0.10 ⚠️

Comparison is base (001a865) 14.05% compared to head (2dd14a8) 13.95%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3462      +/-   ##
==========================================
- Coverage   14.05%   13.95%   -0.10%     
==========================================
  Files        1397     1397              
  Lines       98030   100151    +2121     
  Branches    29104    30648    +1544     
==========================================
+ Hits        13779    13980     +201     
- Misses      69588    71278    +1690     
- Partials    14663    14893     +230     

Flag	Coverage Δ		*Carryforward flag
differential	12.75% <14.94%> (?)
total	14.05% <ø> (+<0.01%)	⬆️	Carriedforward from 001a865

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...test/test_behavior_path_planner_node_interface.cpp	27.90% <0.00%> (ø)
...ner/test/test_freespace_planner_node_interface.cpp	12.50% <0.00%> (ø)
...t/test_motion_velocity_smoother_node_interface.cpp	12.50% <0.00%> (ø)
...st/test_obstacle_cruise_planner_node_interface.cpp	13.33% <0.00%> (ø)
...test/test_obstacle_stop_planner_node_interface.cpp	11.11% <ø> (ø)
.../test_obstacle_velocity_limiter_node_interface.cpp	11.76% <0.00%> (ø)
...est/src/test_planning_validator_node_interface.cpp	15.38% <0.00%> (-1.29%)	⬇️
..._manager/planning_interface_test_manager_utils.hpp	12.19% <3.48%> (-6.04%)	⬇️
...test_utils/src/planning_interface_test_manager.cpp	44.01% <21.31%> (+7.81%)	⬆️
...tor/test/test_scenario_selector_node_interface.cpp	34.14% <55.55%> (+24.62%)	⬆️

... and 10 files with indirect coverage changes

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[satoshi-ota]

obstacle stop planner

[kyoichi-sugahara]

@purewater0901 @takayuki5168 @maxime-clem
could you approve this PR?
I confirmed test passed with each node with following command.

colcon test --event-handlers console_cohesion+ --packages-select behavior_path_planner planning_validator motion_velocity_smoother motion_velocity_smoother obstacle_stop_planner obstacle_stop_planner obstacle_stop_planner freespace_planner