Init collect is not working: publisher not yet activated when publishing

[Minipada]

trafficstars

Init collect is not working because the publisher is not yet activated when publishing first data. Additionally, i realized we also need to make sure the destination server is also started and activated (with all subscribers from Fluent Bit activated) Because of that, we need to wait the destination server is activated before starting the measurement one. For that, we should use the lifecycle nodes, start the Destination,configure and activate. Then start the measurement server, configure and activate.

This means removing the nav2 lifecycle manager and add the pure lifecycle. This also means no more bond

Finally, to ensure the publisher is activated before publishing, we need a subscription to the transition even, checking the state, then publish