fix(behavior_velocity_planner): negative time exception

[TakaHoribe]

Description

The current implementation in behavior_velocity_planner causes an exception as below. THis PR fixes the bug.

[component_container_mt-47] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-47]   what():  cannot store a negative time point in rclcpp::Time

Related links

Tests performed

Run planning simulator.

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[codecov]

Codecov Report

Merging #1828 (4ebddb4) into main (edfe616) will decrease coverage by 0.06%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1828      +/-   ##
==========================================
- Coverage   10.45%   10.39%   -0.07%     
==========================================
  Files        1220     1221       +1     
  Lines       87626    88285     +659     
  Branches    20523    21038     +515     
==========================================
+ Hits         9165     9179      +14     
- Misses      68989    69592     +603     
- Partials     9472     9514      +42     

Flag	Coverage Δ		*Carryforward flag
differential	4.28% <0.00%> (?)
total	10.44% <0.00%> (ø)		Carriedforward from edfe616

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

Impacted Files	Coverage Δ
...include/behavior_velocity_planner/planner_data.hpp	0.00% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.70% <0.00%> (+0.28%)	⬆️
...city_planner/src/scene_module/blind_spot/debug.cpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/detection_area/debug.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/no_stopping_area/debug.cpp	0.00% <0.00%> (ø)
...nner/include/utilization/boost_geometry_helper.hpp	0.00% <0.00%> (ø)
... and 5 more

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[taikitanaka3]

LGTM
but this may conflict with this PR please fix PR #1213