refactor: convert SelfFilterNode to LifecycleNode

[Lakshya-04]

Summary

Converts SelfFilterNode from rclcpp::Node to rclcpp_lifecycle::LifecycleNode so the filter can integrate with lifecycle-managed perception stacks. Changes gathered from production deployments on mobile manipulators where the self-filter needs to start/stop coordinated with an upstream perception pipeline.

Changes

1. LifecycleNode conversion (src/self_filter.cpp)

• Inherit from rclcpp_lifecycle::LifecycleNode instead of rclcpp::Node.
• Move setup logic (parameter reads, subscribers, publishers, self_mask init) from the constructor into on_configure.
• Logs restructured to announce configuration phase cleanly.

2. TF buffer created in constructor, not on_configure

On sim-time / HIL deployments, the ROS clock ticks slowly at startup and there's a warm-up window where TF messages arrive before on_configure fires. Creating the TF buffer + listener in the constructor ensures early TF history is accumulated:

// In constructor, not on_configure:
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);

This eliminated a race where the first dock cycle on sim-time could fail because no TF history was available yet.

3. use_sim_time default: true → false

The original default targeted simulation workflows. Most real deployments run with wall-clock time; simulation users can still flip via parameter. Matches the default convention for ROS 2 nodes.

4. Build system updates

• package.xml: add rclcpp_lifecycle to build and exec deps.
• CMakeLists.txt: add rclcpp_lifecycle to find_package, bump cmake_minimum_required to 3.22 (aligns with ROS 2 Humble's CMake minimum), minor reordering.

Backwards compatibility

LifecycleNode is a superset of Node in message handling but requires explicit configure/activate transitions. Existing callers that launched self_filter as a plain node will now start in the UNCONFIGURED state and need to trigger the transitions explicitly (via ros2 lifecycle set /self_filter_node configure activate or a lifecycle_manager).

If this is a concern, one option is to add a "classic node" build mode guarded by a CMake flag — happy to add that if preferred.

Testing

Deployed for several months on a mobile manipulator (UR10e + custom base + Livox LiDAR) as part of a dock → nvblox → planner pipeline. The TF warm-up fix specifically addressed intermittent first-cycle failures that only reproduced on sim-time.

Happy to split into smaller commits or separate PRs if preferred. Thanks for maintaining this package!