Move base safe

Move robot base from a known/mapped location to another known/mapped location while looking for barrier tape.

Goal parameter description

• destination_location: name of known/mapped location (e.g. WS01, SH02, PP01)

• dont_be_safe: bool determining if barrier tape detection should be used or not (e.g. true, false)

• arm_safe_position: joint configuration name for arm while the base is in motion. This is used for barrier tape detection. (e.g. barrier_tape, folded)