feat: add optional ROS 2 Lifecycle support and fix shutdown deadlock

[BOOPESH-foxy]

Description

This PR introduces optional support for ROS 2 Managed Nodes (Lifecycle) and resolves a critical shutdown deadlock in the scansegment_xd component.

Key Changes

• Lifecycle Support: Implemented rclcpp_lifecycle state machine. Users can now toggle between standard and managed nodes using the lifecycle_managed_node:=true argument.
• Deadlock Fix: Resolved a threading deadlock in MsgPack handling within scansegment_threads.cpp by implementing asynchronous signaling during the shutdown sequence.
• Compatibility: Maintained 100% backward compatibility for ROS 1 and standard ROS 2 builds.
• Infrastructure: Updated 30+ launch files to include the new lifecycle argument and added technical documentation in doc/lifecycle_node.rst.

Related Issues

• Closes feat: add managed state transitions (Lifecycle) for ROS 2 driver #551 (Feature: Optional ROS 2 Lifecycle Support)
• Fixes ROS 2 shutdown deadlock in scansegment_xd (picoScan/multiScan) #550 (Bug: Shutdown deadlock in scansegment_xd)

[rostest]

Dear @BOOPESH-foxy

Thank you very much for your tickets and the resulting suggestions for improvement. We will review the PR and evaluate and test your changes during March.

[rostest]

All in all, the changes look good. To make coordination with SICK management easier, we’ve created the feature branch feature/optional-lifecycle-support, which we can use to continue testing here. We’ve incorporated your changes and will continue to review them. Since we have already released version 3.9., we’ll include these changes in version 3.10. or a similar release.