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Add tutorial for lifecycle node (#1237)

This PR adds a comprehensive tutorial on ROS 2 lifecycle nodes for the rclnodejs library. The tutorial explains the lifecycle state machine, provides practical examples, and covers best practices for implementing lifecycle nodes in JavaScript.

### Key Changes:
- **New lifecycle nodes tutorial** with detailed explanations, code examples, and troubleshooting guidance
- **README update** to include a link to the new tutorials director

Fix: #1236

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