Unique to Shared Bond Connection [Kilted manual backport] (#5349)

* Unique to Shared Bond Connection

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update lifecycle_node.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Unique to Shared Bond Connection [Jazzy backport]

Changes bond connection from std::unique_ptr to std::shared_ptr
for better memory management and lifecycle handling.

Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>

* Unique to Shared Bond Connection [Humble backport]

Changes bond connection from std::unique_ptr to std::shared_ptr
for better memory management and lifecycle handling.

Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Author: SteveMacenski

nav2_util/include/nav2_util/lifecycle_node.hpp

@@ -210,7 +210,7 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
   void runCleanups();
 
   // Connection to tell that server is still up
-  std::unique_ptr<bond::Bond> bond_{nullptr};
+  std::shared_ptr<bond::Bond> bond_{nullptr};
   double bond_heartbeat_period;
   rclcpp::TimerBase::SharedPtr autostart_timer_;
 };

nav2_util/src/lifecycle_node.cpp

@@ -73,7 +73,7 @@ void LifecycleNode::createBond()
   if (bond_heartbeat_period > 0.0) {
     RCLCPP_INFO(get_logger(), "Creating bond (%s) to lifecycle manager.", this->get_name());
 
-    bond_ = std::make_unique<bond::Bond>(
+    bond_ = std::make_shared<bond::Bond>(
       std::string("bond"),
       this->get_name(),
       shared_from_this());