Fixes to Nitros and TRT in the monorepo

[AshishA26]

Currently there are a few issues with nitros nodes and TRT installation in the repository:

1. Due to the way it has been added into the dockerfile, TRT 11 gets installed, overriding the original TRT 10 installation. We should fix this to ensure TRT 10 remains installed, and cuda version remains consistent. New TRT and cuda versions can bring unforeseen bugs if unknowingly updated.

2. We want to use nitros nodes in the repository, however lifecycle nodes do not support nitros right now. This PR has been made is the feat: add LifecycleNode support to ManagedNitrosPublisher/Subscriber (fix #68) NVIDIA-ISAAC-ROS/isaac_ros_nitros#70, however not merged in yet. The fix here is:

   • Take the changes from https://github.com/WATonomous/isaac_ros_nitros_lifecycle/tree/feature/lifecycle-node-support, and push it into https://github.com/WATonomous/isaac_ros_nitros, and then reference https://github.com/WATonomous/isaac_ros_nitros in the monorepo instead of directly relying on an external repository outside the Wato org.
   • Another option is to reference https://github.com/WATonomous/isaac_ros_nitros_lifecycle/tree/feature/lifecycle-node-support in the monorepo, and merge in commits from https://github.com/WATonomous/isaac_ros_nitros as the branch we would be referencing is not fully up to date yet.

• Reference this repository in the dockerfile now instead