Refactor: move Node initialization to BaseNode

[nadavelkabets]

Part of #1620, follows up to #1637

Changes

• Moved BaseNode initialization logic from Node.__init__ into BaseNode.__init__
• Added abstract methods on BaseNode (create_publisher, create_subscription, create_service, _create_service) so BaseNode can construct the parameter event publisher, parameter services and type description service
• Extracted handle creation methods into BaseNode (_create_publisher_handle, _create_subscription_handle, _create_service_handle, _create_client_handle)
• TimeSource, ParameterService, LoggingService, TypeDescriptionService retyped to accept BaseNode instead of Node
• TimeSource._clock_sub cleans itself up via self._clock_sub.destroy() instead of node.destroy_subscription(...) to decouple from Node's entity lists
• TypeDescriptionService._start_service now calls node._create_service(...) instead of directly constructing a Service
• TimeSource.attach_clock is called with self.get_clock() in BaseNode.__init__ instead of self._clock
• Node.destroy_node() no longer calls self._type_description_service.destroy() explicitly and is destroyed by the entity teardown loop in Node.destroy_node() instead

[mjcarroll]

• Linux
• Linux-aarch64
• Linux-rhel
• Windows