feat(goal_distance_calculator): change to read topic by polling

[Autumn60]

Description

Based on the discussion, change goal_distance_calculator to read topic by polling instead of best_effort callback.

Tests performed

psim test were performed

Effects on system behavior

nothing

Interface changes

nothing

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[shmpwk]

Thank you for your contribution!

Nits
One time sub_route_.takeData() is enough for me.

[Autumn60]

@shmpwk

Unified the location where takeData() is called.

However, this code still has room for modification. (e.g., overly wide variable scope).
I have created another PR ( #7434 ) that improves goal_distance_calculator and includes the changes made in this PR.