fix(bpp): don't remove rtc cooperate status

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

@@ -365,7 +365,6 @@ class AvoidanceModule : public SceneModuleInterface
     if (!path_shifter_.getShiftLines().empty()) {
       left_shift_array_.clear();
       right_shift_array_.clear();
-      removeRTCStatus();
     }
 
     generator_.reset();

planning/behavior_path_avoidance_module/src/scene.cpp

@@ -1283,7 +1283,6 @@ void AvoidanceModule::updateData()
 void AvoidanceModule::processOnEntry()
 {
   initVariables();
-  removeRTCStatus();
 }
 
 void AvoidanceModule::processOnExit()

planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp

@@ -187,7 +187,6 @@ class SceneModuleInterface
     RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__);
 
     clearWaitingApproval();
-    removeRTCStatus();
     unlockNewModuleLaunch();
     unlockOutputPath();
     steering_factor_interface_ptr_->clearSteeringFactors();

planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp

@@ -103,6 +103,7 @@ class SceneModuleManagerInterface
   {
     for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
       if (ptr) {
+        ptr->removeExpiredCooperateStatus();
         ptr->publishCooperateStatus(rclcpp::Clock(RCL_ROS_TIME).now());
       }
     }