Add wait_for_message overload using node interfaces

[Yadunund]

Description

Add a rclcpp::wait_for_message overload that takes NodeParametersInterface and NodeTopicsInterface instead of rclcpp::Node::SharedPtr.

The existing topic convenience overload requires a Node::SharedPtr, so it cannot be used with rclcpp_lifecycle::LifecycleNode, or during node construction when shared_from_this() is unavailable. The new overload uses the same rclcpp::create_subscription interface path already used elsewhere in rclcpp. The Node::SharedPtr overload now delegates to it.

Also extend coverage with:

• unit tests for the explicit-interfaces overload in rclcpp
• an isolated gtest in rclcpp_lifecycle that waits via a LifecycleNode held in a unique_ptr (no shared_from_this)

Related to #1953 (LifecycleNode / non-Node::SharedPtr support from the original proposal). This does not address the still-open executor / wait-set concern discussed there (calling wait_for_message from inside a node already managed by an executor).

Is this user-facing behavior change?

Yes. Callers can wait for a topic message using node interfaces, which enables LifecycleNode and construction-time use without shared_from_this(). Existing Node::SharedPtr and subscription+context overloads are unchanged in behavior.

Did you use Generative AI?

Yes. Cursor (Grok) was used to help draft the overload, tests, and this PR description. Changes were reviewed, adjusted and tested manually.

Additional Information

Example:

std_msgs::msg::String msg;
rclcpp::wait_for_message(
  msg,
  this->get_node_parameters_interface(),
  this->get_node_topics_interface(),
  "my_topic",
  std::chrono::seconds(1));

Tested via:

colcon test \
  --packages-select rclcpp rclcpp_lifecycle \
  --ctest-args -R 'wait_for_message' \
  --event-handlers console_direct+

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[skyegalaxy]

lgtm. surprised we didn't already have this in the API before

[skyegalaxy]

Pulls: #3230
Gist: https://gist.githubusercontent.com/skyegalaxy/e7ad2c217f84d2976b863d04657c7452/raw/4e3ae7ea59f91f9e5c90a892621fdd10004abc9f/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20137

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