HMI not using RLC GoTo command when selecting it with the POI interactive marker

[RomanRobotnik]

What do we want to achieve?
To connect the GoTo commands of the Poi Interactive Marker (IM) to the right command manager / RMS action server

Currently, we can choose whether sendind the GoTo directly to the move_base action server or connect to the command_manager. Anyway, it should be connected to the RMS to follow the right pipeline.

How do we plan to do it?

• Add a connector the RMS Action Server or reuse the one used for the Command Manager

Acceptance Criteria

• Any GoTo command sent by using the IM will be received and processed by the RMS
• Any Cancel command will be received and processed by the RMS