Add support for enable_lifecycle_services parameter using nav2 utilities

Expose the enable_communication_interface parameter from rclcpp_lifecycle::LifecycleNode
through nav2's LifecycleNode wrapper using proper nav2 utilities:

- Use nav2::declare_parameter_if_not_declared() with default value true
- Use get_parameter() for value retrieval
- Create temporary node in static helper to properly access nav2 utilities
- Declare parameter in constructor body for future use

This allows users to disable lifecycle communication interfaces when manually
managing node lifecycle transitions by setting the parameter via:
- NodeOptions parameter overrides
- ROS parameter files
- Launch file parameters

Fixes #5305

Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>

Author: claude[bot]

nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp

@@ -59,7 +59,7 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
     const std::string & node_name,
     const std::string & ns,
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
-  : rclcpp_lifecycle::LifecycleNode(node_name, ns, options)
+  : rclcpp_lifecycle::LifecycleNode(node_name, ns, options, getEnableLifecycleServices(options))
   {
     // server side never times out from lifecycle manager
     this->declare_parameter(bond::msg::Constants::DISABLE_HEARTBEAT_TIMEOUT_PARAM, true);
@@ -79,6 +79,10 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
       autostart();
     }
 
+    // Declare the enable_lifecycle_services parameter for future use
+    nav2::declare_parameter_if_not_declared(
+      this, "enable_lifecycle_services", rclcpp::ParameterValue(true));
+
     printLifecycleNodeNotification();
 
     register_rcl_preshutdown_callback();
@@ -338,6 +342,27 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
     }
   }
 
+private:
+  /**
+   * @brief Get the enable_lifecycle_services parameter using nav2 utilities
+   * @param options NodeOptions to use for creating temporary node
+   * @return bool value for enable_lifecycle_services parameter (default: true)
+   */
+  static bool getEnableLifecycleServices(const rclcpp::NodeOptions & options)
+  {
+    // Create a temporary node to properly declare and get the parameter
+    auto temp_node = rclcpp::Node::make_shared("temp_lifecycle_param_node", options);
+    
+    // Use nav2 utilities to declare and get the parameter
+    nav2::declare_parameter_if_not_declared(
+      temp_node, "enable_lifecycle_services", rclcpp::ParameterValue(true));
+    
+    bool enable_lifecycle_services = true;
+    temp_node->get_parameter("enable_lifecycle_services", enable_lifecycle_services);
+    
+    return enable_lifecycle_services;
+  }
+
 protected:
   /**
    * @brief Print notifications for lifecycle node