chore(behavior_path_planner): remove unnecessary debug publisher

[TakaHoribe]

Description

remove two publishers in behavior_path_planner.

• debug_drivable_area_publisher_: unnecessary since the drivable area can be visualized by the path.drivable visualize plugin
• debug_path_publisher_: unnecessary since the pathWithLaneId now can be visualized by the rviz plugin.

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[tkimura4]

LGTM

[codecov]

Codecov Report

Merging #1690 (e30b9fa) into main (8f7f923) will increase coverage by 0.23%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1690      +/-   ##
==========================================
+ Coverage   10.64%   10.88%   +0.23%     
==========================================
  Files        1096     1028      -68     
  Lines       71680    70069    -1611     
  Branches    18081    18570     +489     
==========================================
- Hits         7633     7627       -6     
+ Misses      55552    53753    -1799     
- Partials     8495     8689     +194     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	11.01% <0.00%> (+0.36%)	⬆️	Carriedforward from 8f7f923

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...or_path_planner/src/behavior_path_planner_node.cpp	0.17% <ø> (+0.17%)	⬆️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	0.87% <0.00%> (-0.25%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	64.15% <0.00%> (-18.87%)	⬇️
planning/behavior_path_planner/test/input.cpp	60.00% <0.00%> (-7.86%)	⬇️
...ning/behavior_path_planner/test/test_utilities.cpp	33.33% <0.00%> (-4.17%)	⬇️
...ner/src/scene_module/avoidance/avoidance_utils.cpp	2.91% <0.00%> (-0.22%)	⬇️
...erception/traffic_light_classifier/src/nodelet.cpp	0.00% <0.00%> (ø)
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
... and 90 more

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