fix(mission_planner): revert add mrm reroute (#3821)

[kosuke55]

This reverts commit 358d4a7.

Description

#3821 changed API behavior, so revert this.
We need to discuss this more.

Related links

#3821

Tests performed

not tested

Notes for reviewers

Interface changes

no applicable

Effects on system behavior

no applicable

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (712c11c) 14.11% compared to head (6d5cd0c) 14.11%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3831   +/-   ##
=======================================
  Coverage   14.11%   14.11%           
=======================================
  Files        1438     1438           
  Lines      101526   101526           
  Branches    27045    27045           
=======================================
  Hits        14328    14328           
  Misses      71513    71513           
  Partials    15685    15685           

Flag	Coverage Δ		*Carryforward flag
differential	15.08% <0.00%> (?)
total	14.11% <0.00%> (ø)		Carriedforward from 712c11c

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