chore: Add consensus state heights query (backport #1336)

[mergify]

This is an automatic backport of pull request #1336 done by Mergify.
Cherry-pick of 042d818 has failed:

On branch mergify/bp/release/v1.5.x/pr-1336
Your branch is up to date with 'origin/release/v1.5.x'.

You are currently cherry-picking commit 042d818.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   docs/ibc/proto-docs.md
	modified:   modules/core/02-client/client/cli/cli.go
	modified:   modules/core/02-client/client/cli/query.go
	modified:   modules/core/02-client/keeper/grpc_query.go
	modified:   modules/core/02-client/types/query.pb.gw.go
	modified:   modules/core/keeper/grpc_query.go
	modified:   proto/ibc/core/client/v1/query.proto

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CHANGELOG.md
	both modified:   docs/client/swagger-ui/swagger.yaml
	both modified:   modules/core/02-client/keeper/grpc_query_test.go
	both modified:   modules/core/02-client/types/query.pb.go

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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