[ADD] Node interfaces support

[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.

[mjcarroll]

No reasons against the change, likely just a lack of someone contributing the feature. Please open a PR and we would be happy to iterate on it.

[wodtko]

awesome, thanks for the fast reply, @authaldo created a respective PR #113