fix(bpp, bvp): keep rtc cooperate status even after manager stops module execution (autowarefoundation#7032)

* feat(rtc_interface): add new function to remove old status

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

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

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

* fix(bvp): don't remove rtc cooperate status

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

---------

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

@@ -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());
       }
     }