Ros2 Diagnostics - Fix for Frame_id naming

[dwffls]

Overview

Author: Daan Wijffels

Changes

ROS distro: Tested on Iron
List of changes:

• Ros2 Diagnostics uses stats to provide additional information, i fixed so that it conforms to the standards
• When using the camera node to publish tf frames, the frame_id's used in the messages we're not correctly adjusted. this pr fixes this and adds the base_name to the frameNames

Testing

Hardware used: OAK-D-SR

[dwffls]

I know these should have probably been two seperate PR's but pushed by accident to the same branch.
Hope these can still be merged, otherwise al make a seperate PR

[Serafadam]

Hi, regarding formatting it looks okay, but regarding the base frame I would prefer not to include CameraParamHandler in BaseNode but instead follow similar logic to how rsCompatibilityMode is obtained

[dwffls]

Created a tfPrefix function in sensors_helpers to fix it.
If anything else needs changing let met know!