[Servo] Fix collision checking with attached objects (backport #2747)

[mergify[bot]]

Description

This PR introduces a slight fix to the MoveIt Servo collision checker to make it work with attached objects.

Turns out Current State Monitor has some issues, but Planning Scene Monitor works fine: https://github.com/ros-planning/moveit2/issues/2748

Checklist

• [x] Required by CI: Code is auto formatted using clang-format
• [x] Extend the tutorials / documentation reference
• [x] Document API changes relevant to the user in the MIGRATION.md notes
• [x] Create tests, which fail without this PR reference
• [x] Include a screenshot if changing a GUI
• [x] While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #2747 done by Mergify.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 51.08%. Comparing base (0a27609) to head (80e173a). Report is 2 commits behind head on iron.

:exclamation: Current head 80e173a differs from pull request most recent head 1b38efc. Consider uploading reports for the commit 1b38efc to get more accurate results

Additional details and impacted files

```diff @@ Coverage Diff @@ ## iron #2754 +/- ## ========================================== + Coverage 51.08% 51.08% +0.01% ========================================== Files 385 385 Lines 31983 31984 +1 ========================================== + Hits 16334 16335 +1 Misses 15649 15649 ```

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