Merge pull request tier4#1560 from tier4/HansRobo-patch-1

docs: delete unused topic from Communication.md

Author: HansRobo

docs/developer_guide/Communication.md

@@ -8,7 +8,6 @@
 | `/api/external/get/emergency`                                                  | [`tier4_external_api_msgs/msg/Emergency`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/msg/Emergency.msg)                  | Used in UserDefinedValueCondition `currentEmergencyState`             |
 | `/api/external/get/rtc_status`                                                 | [`tier4_rtc_msgs/msg/CooperateStatusArray`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/msg/CooperateStatusArray.msg)              |                                                                       |
 | `/api/fail_safe/mrm_state`                                                     | [`autoware_adapi_v1_msgs/msg/MrmState`](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/system/msg/MrmState.msg)            | Used in UserDefinedValueCondition `currentMinimumRiskManeuverState`   |
-| `/api/iv_msgs/planning/scenario_planning/trajectory`                           | [`tier4_planning_msgs/msg/Trajectory`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_planning_msgs/msg/Trajectory.msg)                        |                                                                       |
 | `/autoware/state`                                                              | [`autoware_system_msgs/msg/AutowareState`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_system_msgs/msg/AutowareState.msg)                   | Used in UserDefinedValueCondition `currentAutowareState`              |
 | `/control/command/control_cmd`                                                 | [`autoware_control_msgs/msg/Control`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_control_msgs/msg/Control.msg)                             |                                                                       |
 | `/control/command/gear_cmd`                                                    | [`autoware_vehicle_msgs/msg/GearCommand`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearCommand.msg)                     |                                                                       |