Use segment name of body_info as collision detection frame_id.

``collision_state.py`` does not work for our robots because frame_id ``WAIST`` does not exist.
Root-link's frame_id is published as ``BODY`` because ``robot_state_publisher`` publishes tf based on link names. 

So, I use segment name of body_info as collision detection frame_id.

However, why does the frame_id ``WAIST`` work on hironx??