Improve safezone stability #1759
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This PR removes a lot of failure points and instabilities in the safezone (and therefore also the charging) functionality. In a future PR I also want to implement this: #1775 to further improve consistency. In this PR we now use localization poses if no safezone poses are found. In a future PR I would also like to handle this issue: #1528 by removing safezone poses and only using localization poses.