Dear Ma
łgorzata,
please take this with a grain of salt as I have only limited knowledge of the topic and have not read the paper very thoroughly. However, I assume it works as follows:
The proof of the algorithm's correctness does not directly depend on the triconnectedness of the graph. Rather, the triconnectedness is only needed to ensure that a canonical ordering (an ordered partition of the vertices with certain properties) exists.
In other papers, the notion of a canonical ordering was generalized to biconnected (not necessarily triconnected) graphs, see e.g.
Definition 3.2 of Harel, David, and Meir Sardas. "An algorithm for straight-line drawing of planar graphs." Algorithmica 20.2 (1998): 119-135.
This notion of a canonical ordering still fulfills the properties that are needed to ensure the correctness of the algorithm by Chrobak & Kant. However, it does not require the graph to be triconnected.
Hence, it suffices to augment the graph to a biconnected graph (PlanarAugmentation) and compute a canonical ordering for biconnected graphs (BiconnectedShellingOrder).
Best regards,
Dagobert