Parking tutorial in documentation fails to reach goal

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When I follow the parking planner instruction in Autoware Documentation, it does not plan path correctly.

It should first plan path to the nearest lane, but it tries to reach goal directly without consideration of vehicle kinematic model.

Expected behavior

Fails to reach goal when goal is set in parking area.

Actual behavior

Succeeds to reach goal when goal is set in parking area.

Steps to reproduce

Follow parking scenario in Autoware Documentation

Versions

• OS: Ubuntu 22.04
• ROS 2 Humble
• Autoware main branch

Possible causes

#2340

It seems behavior planner was supposed to refine the goal to closest lane first, but it was removed from this PR. #2340

We should probably redesign the system to switch between parking<->lane_driving mode, but I think reverting the commit would be the easiest fix for now.

Additional context

No response