refactor init to allow for non-global init (#587)

* refactor init to allow for non-global init

Signed-off-by: William Woodall <william@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/src/rclcpp/utilities.cpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* refactor state into context objects and fix signal handling

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid nullptr access in error messages

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid exception in publish after shutdown was called

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix missing and unused headers

Signed-off-by: William Woodall <william@osrfoundation.org>

* cpplint

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixes found during testing

Signed-off-by: William Woodall <william@osrfoundation.org>

* address bug found in review comment

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixes and warnings fixed during testing

Signed-off-by: William Woodall <william@osrfoundation.org>

* addressing review comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* ensure new ExecutorArgs are used everywhere

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -86,7 +86,8 @@ LifecycleNode::LifecycleNode(
       node_base_,
       node_topics_,
       node_graph_,
-      node_services_
+      node_services_,
+      node_logging_
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   use_intra_process_comms_(use_intra_process_comms),