LifecycleNode support for tf2_ros::TransformListener

[mjeronimo]

Feature request

Feature description

Similar to #70, the TransformListener class needs support for lifecycle nodes.

Implementation considerations

There could be a constructor that takes the required node interfaces, perhaps in addition to rclcpp::Node and rclcpp_lifecycle::LifecycleNode.

[mjeronimo]

@wjwwood @tfoote I'd like to update the TransformListener class to work with interface pointers rather than rclcpp::Node::SharedPtr so that it can work with lifecycle nodes. However, it's not clear to me how one would use the node_topics interface to create a subscription. It requires a subscription factory and subscription options from the RCL layer. I can't seem to untangle this. Can you provide some guidance on how this should be done? Thanks.

[kurshakuz]

I believe that issue was fixed in #108

[DLu]

@mjeronimo Can this be closed?

[mjeronimo]

@DLu Yes, thanks for following up.