Add return to home capabilities

[oysand]

Describe the improvement you would like to see
Version 1.17.0 of ISAR implements ReturnToHome step type. With this we want to add the return to home capability.

How will this change existing functionality?
Return to home step is used instead of drive to pose.

How will this improvement affect the current Threat Model?
N/A

[aeshub]

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