asserting throwing for async publish with currently errored batch

#### Environment details

  - OS type and version: linux
  - Python version: `python --version` : Python 3.7.6
  - pip version: `pip --version` :  pip 19.3.1
  - `google-cloud-pubsub` version: `pip show google-cloud-pubsub` 1.3.1

#### Code example

```python
from google.cloud import pubsub_v1
import time


def main():
    publisher = pubsub_v1.PublisherClient()
    topic_path = "projects/*****/topics/*****"

    try:
        publisher.publish(topic_path, data=b'')  # invalid
    except:
        pass

    while True:
        print('publishing')
        publisher.publish(topic_path, data=b'valid')
        time.sleep(1)


if __name__ == '__main__':
    main()
```

#### Stack trace
```
Traceback (most recent call last):
  File "pubsub_error.py", line 21, in <module>
    main()
  File "pubsub_error.py", line 16, in main
    publisher.publish(topic_path, data=b'valid')
  File "/Users/camerondavison/Library/Python/3.7/lib/python/site-packages/google/cloud/pubsub_v1/publisher/client.py", line 364, in publish
    future = sequencer.publish(message)
  File "/Users/camerondavison/Library/Python/3.7/lib/python/site-packages/google/cloud/pubsub_v1/publisher/_sequencer/unordered_sequencer.py", line 113, in publish
    future = batch.publish(message)
  File "/Users/camerondavison/Library/Python/3.7/lib/python/site-packages/google/cloud/pubsub_v1/publisher/_batch/thread.py", line 334, in publish
    ), "Publish after stop() or publish error."
AssertionError: Publish after stop() or publish error.
```

As I mentioned just now in https://github.com/googleapis/python-pubsub/pull/26#issuecomment-601333328 it looks like there is an assert that was added that can now trigger for an errored out batch.

batch errors could happen any time so it seems like it would be better to move the assert below the check to see if the batch is still accepting new messages so that a new batch can be created if it errored out.

I validated the same code does not throw an exception on publish in `1.2.0`

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asserting throwing for async publish with currently errored batch #48

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asserting throwing for async publish with currently errored batch #48

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