smac lattice planner for differential robot

edit

env: ros2 humble on ubuntu 22.04

I am trying to use smac lattice planner for my differential/rectangular robot. I noticed that when the robot arrives near goal, it parks as a vehicle and it does not rotate on goal. in nav2 documentation it says that the planner is suitable for differential non-circular robot. How can I make the robot rotate on goal ? here is the screen and config:

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_smac_planner/SmacPlannerLattice"
      allow_unknown: true  
      tolerance: 0.05
      max_iterations: 1000000         
      max_on_approach_iterations: 1000  
      max_planning_time: 5.0          
      analytic_expansion_ratio: 3.5 
      analytic_expansion_max_length: 4.0 
      reverse_penalty: 1.0 
      change_penalty: 0.05 
      non_straight_penalty: 1.05
      cost_penalty: 2.0
      rotation_penalty: 1.0               
      retrospective_penalty: 0.015
      lattice_filepath: "path_to_file/output.json" 
      lookup_table_size: 20.0  
      cache_obstacle_heuristic: true
      allow_reverse_expansion: true
      smooth_path: False

and for the primitive config:

{
    "motion_model": "diff",
    "turning_radius": 1.0,
    "grid_resolution": 0.05,
    "stopping_threshold": 5,
    "num_of_headings": 16
}