[Feature]: Adapt current communication to new message type Trajectory

[Vroni27]

Feature Description

Currently, the trajectory that is planned by the planning components is published as follows:
The ACC publishes the desired velocity to the topic "/paf/hero/acc_velocity". The Motion Planning publishes the trajectory (which is rather a path since it does not include the velocity) to the topic "/paf/hero/trajectory" and uses the message type nav_msgs/Path. A new message type which should replace this communication in the long term was created in #511. In this issue, the current communication is extended so that it uses the old communication and the new message type redundantly.

Definition of Done

Every time a publisher publishes something to the topic "/paf/hero/acc_velocity" or to "/paf/hero/trajectory", a new publisher publishes the same information to a topic that uses the new message type "paf_msg/Trajectory".

Dependencies

#530