Support parking and reverse driving

[ralwing]

Currently, Autoware doesn't support reverse driving. There are only two cases when it is possible:

• Perpendicular/Angled parking
• Pull over maneuver - arc backward parking

Although many different scenarios are mentioned in the planning design and are supported in the AWsim simulator, it requires disabling the obstacle detection and extending the original parking maps.
Furthermore, the autoware_freespace_planner is a module created in the ancient Autoware.Auto era and is not integrated into the current Behavioral Planner architecture.

And though TIER IV promotes its bus driving in cities, I don't see any public information about reverse parking maneuvers in Autoware.

That said, I want to implement reverse parking for a real vehicle (but starting in the Carla simulator). Since the planning module creates feasible trajectories, the control pipeline can't realize them - mostly due to unstable orientation direction.
So I added a slightly customized autoware_path_smoother (supporting backward trajectories) between the freespace_planner and scenario_selector modules. This results in a slightly better trajectory, but there are still cases where the smoother reverses orientation (resampling of points where at the beginning x,y increase, and then decrease).

The smoother issue is already 2 years old. I've provided there some ROS2 bags for future investigation.

So finally, my questions are:

1. Are you able to park the vehicle? If so, how do you achieve that? For example, does TIER IV have a solution?
2. I don't see any work proceeding in AWF regarding parking support in real-life scenarios. Are you going to integrate parking maneuvers into the Behavioral Planner architecture?