Add Lifecycle nodes support

[Myzhar]

Currently, ManagedNitrosPublisher and ManagedNitrosSubscriber cannot be used with ROS 2 Lifecycle nodes. This limits their usability in modern ROS 2 systems, where Lifecycle support is increasingly standard.

Problem Description

ROS 2 introduced the Lifecycle node model to enable managed startup, shutdown, and state transitions. This feature is widely adopted and considered best practice in many production systems.

At the moment, ManagedNitrosPublisher and ManagedNitrosSubscriber require a raw rclcpp::Node* to be passed to their constructors.

Publisher:

ManagedNitrosPublisher(
    rclcpp::Node * node,
    const std::string & topic,
    const std::string & format,
    const NitrosDiagnosticsConfig & diagnostics_config = {},
    const rclcpp::QoS qos = rclcpp::QoS(1))

Subscriber:

 explicit ManagedNitrosSubscriber(
    rclcpp::Node * node,
    const std::string & topic_name,
    const std::string & format,
    std::function<void(const NitrosMsgView & msg_view)> callback = nullptr,
    const NitrosDiagnosticsConfig & diagnostics_config = {},
    const rclcpp::QoS qos = rclcpp::QoS(1))

This design prevents them from being used with rclcpp_lifecycle::LifecycleNode, since Lifecycle nodes are not directly compatible with APIs expecting a plain rclcpp::Node*.

Prior Art

A similar limitation previously existed in image_transport. That issue is documented here:

• [ROS2] image_transport does not support LifecycleNode ros-perception/image_common#108

It was resolved (starting with ROS 2 Kilted) by switching to the use of NodeInterfaces instead of requiring a direct rclcpp::Node*:

• Support lifecycle node - NodeInterfaces ros-perception/image_common#352

This approach allows compatibility with both standard rclcpp::Node and rclcpp_lifecycle::LifecycleNode.

Proposed Improvement

Refactor ManagedNitrosPublisher and ManagedNitrosSubscriber to accept the appropriate NodeInterfaces (e.g., NodeBaseInterface, NodeTopicsInterface, etc.) rather than a raw rclcpp::Node*.

This would:

• Enable compatibility with Lifecycle nodes
• Align with modern ROS 2 design patterns
• Improve integration with frameworks such as Nav2
• Future-proof the API

Motivation and Impact

Lifecycle nodes are becoming increasingly important in ROS 2 ecosystems and are already heavily used in mature stacks such as Nav2. Lack of Lifecycle support in core transport/publisher components creates friction for developers building managed systems.