[Collision Monitor] fix Z base frame transformation (backport #5794)

[mergify]

min_height / max_height applied to a pointcloud source in the CM is not anymore relative to base_frame_id but relative to the frame_id of that source when not using use_global_height.
Can be quite critical as impacting which part of a pointcloud are used in the collision monitor/detector.
I believe since: #5586
Draft to get the info out asap but not yet 100% checked. Will need extra sanity checks.

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This is an automatic backport of pull request #5794 done by Mergify.

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_collision_monitor/src/pointcloud.cpp	96.36% <100.00%> (+0.13%)	⬆️

... and 2 files with indirect coverage changes

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