Publish collision monitor state (#3504)

[gennartan]

This commits is cherry-picked from b8d077e. The collision monitor now has an additional parameter named "state_topic". If the state topic is set, the collision monitor will publish its status to the defined topic so that other nodes might perform actions based on the current state of the collision monitor.

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(See PR #3504)
Primary OS tested on	Ubuntu 22.04 + (See PR #3504)
Robotic platform tested on	(See PR #3504)
Does this PR contain AI generated software?	(See PR #3504)

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Description of contribution in a few bullet points

• Cherry pick commit b8d077e so that the collision monitor is able to publish the current state.

Description of documentation updates required from your changes

• Added new parameter, so need to add that to default configs and documentation page.

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Future work that may be required in bullet points

• Add documentation of the feature in the readme (I noticed this was done in another PR)

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[mergify]

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

[SteveMacenski]

This is not ABI compatible (methods have their signatures changed), and thus cannot be backported.