Use lifecycle nodes in controllers again

[vatanaksoytezer]

Adds the lifecycle nodes back, that are removed in #261.

[vatanaksoytezer]

The only thing left in this should be a test failure where we try to reconfigure and start an unconfigured loaded controller, the cli exits. I suspect that due to a cleanup error.

[vatanaksoytezer]

@bmagyar I think I addressed all your review, but still I have one failing test in spawner_unspawner and controller_manager_srvs that seems to be stemming from cleanup.

See https://github.com/ros-controls/ros2_control/runs/3663696172?check_suite_focus=true#step:3:3170 and https://github.com/ros-controls/ros2_control/runs/3663696172?check_suite_focus=true#step:3:3076 for context.

[vatanaksoytezer]

I guess this is not gonna get merged soon, and I am more likely to not commit a lot of time into this PR, so closing it. Let me know if you need this or have any intentions to merge.

[mergify]

This pull request is in conflict. Could you fix it @vatanaksoytezer?

[destogl]

@vatanaksoytezer I will take this over. I hope I have access to push to your fork.

Thanks for the initial work. It looks good.

[vatanaksoytezer]

@vatanaksoytezer I will take this over. I hope I have access to push to your fork.

You should have access, let me know if you need anything.