fix(bpp): keep publishing rtc cooperate status (autowarefoundation#6953)

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

Author: satoshi-ota

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

@@ -186,7 +186,6 @@ class SceneModuleInterface
 
     clearWaitingApproval();
     removeRTCStatus();
-    publishRTCStatus();
     unlockNewModuleLaunch();
     unlockOutputPath();
     steering_factor_interface_ptr_->clearSteeringFactors();
@@ -196,18 +195,6 @@ class SceneModuleInterface
     processOnExit();
   }
 
-  /**
-   * @brief Publish status if the module is requested to run
-   */
-  void publishRTCStatus()
-  {
-    for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
-      if (ptr) {
-        ptr->publishCooperateStatus(clock_->now());
-      }
-    }
-  }
-
   void publishObjectsOfInterestMarker()
   {
     for (const auto & [module_name, ptr] : objects_of_interest_marker_interface_ptr_map_) {

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

@@ -99,6 +99,15 @@ class SceneModuleManagerInterface
     observers_.erase(itr, observers_.end());
   }
 
+  void publishRTCStatus()
+  {
+    for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
+      if (ptr) {
+        ptr->publishCooperateStatus(rclcpp::Clock(RCL_ROS_TIME).now());
+      }
+    }
+  }
+
   void publishVirtualWall() const
   {
     using tier4_autoware_utils::appendMarkerArray;
@@ -235,15 +244,13 @@ class SceneModuleManagerInterface
     std::for_each(observers_.begin(), observers_.end(), [](const auto & observer) {
       if (!observer.expired()) {
         observer.lock()->onExit();
-        observer.lock()->publishRTCStatus();
       }
     });
 
     observers_.clear();
 
     if (idle_module_ptr_ != nullptr) {
       idle_module_ptr_->onExit();
-      idle_module_ptr_->publishRTCStatus();
       idle_module_ptr_.reset();
     }