nav2_ros_common: add lifecycle-managed Subscription wrapper #5834

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Draft

Lotusymt wants to merge 37 commits into ros-navigation:main from Lotusymt:feature/nav2_ros_common-lifecycle-interfaces-5298

Draft

nav2_ros_common: add lifecycle-managed Subscription wrapper #5834

nav2_loopback_sim: activate lifecycle subscriptions and fix unit-test…

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