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[ADD] Node interfaces support #112

@wodtko

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@wodtko

At work, we have been using message filters for a while now.
While transitioning to LifecycleNodes, we noticed that the interface of the message subscriber still relies on a Node type, which supports create_subscription with a specific signature.
The intended way of the rclcpp::NodeInterfaces seems to circumvent the use of any Node type and use specific interfaces instead.

We are currently working on implementing similar changes in other projects (see image_transport and image_transport_plugins).
This is why we depend on similar changes here.

Are there any reasons against such a change?
Since we (especially @authaldo) are working on it anyway, we would be happy to contribute a PR.

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