fix(behavior_path_planner): check new modified goal in the node side

[kosuke55]

Description

After setting a modified goal in the goal planner, if the module is deleted in the same cycle by the planner_manager, the modified goal may not be published.

e.g) tier4 internal scenario

This happens when the start planner and goal planner are triggered in the first cycle when the goal is close to ego.
To solve this problem, I added a check in node to see if the modified goal has been published.

Related links

Tests performed

psim

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (f6b14ec) 14.18% compared to head (1deb568) 14.18%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4295   +/-   ##
=======================================
  Coverage   14.18%   14.18%           
=======================================
  Files        1599     1599           
  Lines      110050   110049    -1     
  Branches    31539    31538    -1     
=======================================
  Hits        15612    15612           
+ Misses      77486    77485    -1     
  Partials    16952    16952           

Flag	Coverage Δ		*Carryforward flag
differential	13.59% <0.00%> (?)
total	14.18% <ø> (+<0.01%)	⬆️	Carriedforward from f6b14ec

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

Impacted Files	Coverage Δ
...or_path_planner/src/behavior_path_planner_node.cpp	26.86% <0.00%> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	6.06% <0.00%> (+<0.01%)	⬆️

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