[Galactic+] Use LifecycleNode once transitions cannot be triggered by externals.

[bmagyar]

Once transition triggering can be disabled through ROS2 services, we can go back to using LifecycleNode.

LifecycleNode was replaced with Node #261 but the code wasn't really changed, we are ready to move back as soon as possible.

[vatanaksoytezer]

I am going to start implementing this, can you assign it to me @bmagyar?

[bmagyar]

Thanks for volunteering, assigned!