Add lifecycle to service-based operation

[hellantos]

This pull request will:

• [x] add lifecycled driver nodes
• [x] add lifecycled master nodes
• [x] create device_container_node that loads the lifecycle_device_manager_node, master and drivers
• [x] create lifecyle_device_manager_node that manages the lifecycle of master and drivers
• [x] add tests
• [x] remove compiler warnings

[hellantos]

This PR contains some code duplication in order to facilitate ros2_control integration development. We'll restructure once #33 is ready and merged.

[borongyuan]

There is a typo in canopen/sphinx/configuration-package.rst line 81 name="device_container_node_node",