This PR aims to robustify the callback of moveto.cpp:
The PoseStamped message can only be referenced in "base_footprint" (FRAME_ROBOT) or in "odom" (FRAME_WORLD), no movement will be launched if another frame is specified
If the quaternion of the PoseStamped message is invalid, the corresponding yaw will be set to 0.0 (nan before, could make the robot fall)
This PR aims to robustify the callback of moveto.cpp: