feat(behavior_velocity_modules): add node test

[takayuki5168]

Description

Continuing the following PR, this PR added a node test to each package in the behavior_velocity_planner.
Please see the description of the following PR for the details.
#9760

Additionally, due to the current include directory's structure (include/autoware/<package-name>), it is impossible to

• generate messages/sevices
• make the implementation as a library, and another package will include it
  at the same time since we got an error of failing to find the library.
  Note: This is because the include directories for the implementation library and messages/services are different.

That's why this PR removes the service generation, and we decided to use the following external service in the autoware_internal_debug_msgs package.
https://github.com/autowarefoundation/autoware_internal_msgs/blob/main/autoware_internal_debug_msgs/srv/String.srv

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 50.00000% with 2 lines in your changes missing coverage. Please review.

Project coverage is 29.71%. Comparing base (a32cae1) to head (d9a331d).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...er/autoware_behavior_velocity_planner/src/node.cpp	50.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9790      +/-   ##
==========================================
+ Coverage   28.77%   29.71%   +0.94%     
==========================================
  Files        1457     1462       +5     
  Lines      109221   109273      +52     
  Branches    42566    42767     +201     
==========================================
+ Hits        31428    32471    +1043     
+ Misses      74714    73680    -1034     
- Partials     3079     3122      +43     

Flag	Coverage Δ		*Carryforward flag
differential	18.59% <50.00%> (?)
total	28.77% <ø> (-0.01%)	⬇️	Carriedforward from a32cae1

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