fix(behavior_path_planner): pull_over far goal bug (#1571)

[kosuke55]

Description

cherry-pick
autowarefoundation#1571
for v0.5.0

Solved a problem where setting a goal after a loop pull_over did not work well. Because current_lanes does not contain goal, goal_arc_length cannot be calculated correctly (it becomes 0) and pull_oevr module is invoked. In addition, arc_length could not be calculated properly in the module processing, this caused bug.
In this PR, when a goal is far away and current_lanes does not contain the goal, the module will not be launched.

Related links

autowarefoundation#1571

Tests performed

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