fix(behavior_path_planner): fix behavior_path_planner node to check occupancy_grid before running (autowarefoundation#6752)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -311,6 +311,10 @@ bool BehaviorPathPlannerNode::isDataReady()
     return missing("operation_mode");
   }
 
+  if (!planner_data_->occupancy_grid) {
+    return missing("occupancy_grid");
+  }
+
   return true;
 }