Localization at point chosen in map is very unstable

[anetteu]

Describe the bug
There are two problems observed:

1. Localization is off by several meters and/or orientation
2. Localization is successful, but not accurate. The accuracy given by that map and the point selector is not good enough.

To Reproduce
Steps to reproduce the behavior:

Expected behavior
Localization must work every time. If we have a feature where the point can be selected in a map, it should provide the needed accuracy for localization.

Whether we should keep this feature or not depends on the the end user. If the end user is a dev team member, it might be worth keeping it. If the end user is an operator, I would suggest disable the localization feature on the GUI, and implement it as suggested in #921.

Screenshots
If applicable, add screenshots to help explain your problem.

[oysand]

To be handled in #950