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docs(goal_planner): modify threads docs (autowarefoundation#6295)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

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planning/behavior_path_goal_planner_module/images
- goal_planner-threads.drawio.svg

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`‎planning/behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg`

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