LifecycleNode support in rclnodejs

[mattrichard]

rclnodejs should support lifecycle (a.k.a managed) nodes.

https://github.com/ros2/demos/blob/master/lifecycle/README.rst

[wayneparrott]

I reviewed the lifecycle design and the rcl and rclcpp implementations. Implementing a rclnodejs lifecycle node using the rcl lifecycle api looks straight forward. I have an early working version which I need to write tests. Hoping to commit a PR next week for this feature.

[minggangw]

Excited to know that, we are closing the gap!

[minggangw]

Thanks for @wayneparrott's contributions, we are one step closer to the full-feature client 🚀