Backporting custom height point field into Jazzy.

[greganderson-vermeer]

Backporting PR #5585 into Jazzy.

Doing this to clear out unsigned commits from history.

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5585
Primary OS tested on	(Ubuntu)
Robotic platform tested on	Vermeer Balehawk
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[mergify]

@greganderson-vermeer, 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.

[SteveMacenski]

/opt/overlay_ws/src/navigation2/nav2_collision_monitor/test/collision_monitor_node_test.cpp: In member function ‘void Tester::setGlobalHeightParams(const std::string&, double)’:
/opt/overlay_ws/src/navigation2/nav2_collision_monitor/test/collision_monitor_node_test.cpp:558:8: error: ‘using std::__shared_ptr_access<CollisionMonitorWrapper, __gnu_cxx::_S_atomic, false, false>::element_type = class CollisionMonitorWrapper’ {aka ‘class CollisionMonitorWrapper’} has no member named ‘declare_or_get_parameter’; did you mean ‘declare_parameter’?
  558 |   cm_->declare_or_get_parameter(
      |        ^~~~~~~~~~~~~~~~~~~~~~~~
      |        declare_parameter
/opt/overlay_ws/src/navigation2/nav2_collision_monitor/test/collision_monitor_node_test.cpp:562:8: error: ‘using std::__shared_ptr_access<CollisionMonitorWrapper, __gnu_cxx::_S_atomic, false, false>::element_type = class CollisionMonitorWrapper’ {aka ‘class CollisionMonitorWrapper’} has no member named ‘declare_or_get_parameter’; did you mean ‘declare_parameter’?
  562 |   cm_->declare_or_get_parameter(
      |        ^~~~~~~~~~~~~~~~~~~~~~~~
      |        declare_parameter
gmake[2]: *** [test/CMakeFiles/collision_monitor_

That API isn't available in Jazzy, you'll need to declare it using the normal ROS 2 node APIs

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_collision_monitor/src/pointcloud.cpp	96.22% <100.00%> (+1.10%)	⬆️

... and 2 files with indirect coverage changes

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