feat(planning_validator): use polling subscriber

[kyoichi-sugahara]

Description

The same as this PR based on the discussion, the polling subscriber is used in the obstacle_avoidance_planner.

after the PR is merged

Tests performed

check psim and echo topic with following command

ros2 topic echo /planning/autoware_planning_validator/validation_status

get the following output

---
stamp:
  sec: 1717738132
  nanosec: 36705836
is_valid_size: true
is_valid_finite_value: true
is_valid_interval: true
is_valid_relative_angle: true
is_valid_curvature: true
is_valid_lateral_acc: true
is_valid_longitudinal_max_acc: true
is_valid_longitudinal_min_acc: true
is_valid_steering: true
is_valid_steering_rate: true
is_valid_velocity_deviation: true
is_valid_distance_deviation: true
is_valid_longitudinal_distance_deviation: true
is_valid_forward_trajectory_length: true
trajectory_size: 162
max_interval_distance: 1.0000000358459422
max_relative_angle: 0.00020640208742839228
max_curvature: 0.0001376013912444474
max_lateral_acc: 0.004167162866877597
max_longitudinal_acc: 1.0023255348205566
min_longitudinal_acc: 0.0
max_steering: 0.0003839078627112221
max_steering_rate: 0.001138575508739542
velocity_deviation: 0.2500005066394806
distance_deviation: 0.16999918825570942
longitudinal_distance_deviation: 0.0
forward_trajectory_length_required: 0.0
forward_trajectory_length_measured: 0.0
invalid_count: 0
---

Effects on system behavior

Not applicable.

Interface changes

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.