Use templated NodeT in c++ constructor (#274)

Author: russkel

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header

@@ -92,10 +92,8 @@ struct StackParams {
   class ParamListener{
   public:
     // throws rclcpp::exceptions::InvalidParameterValueException on initialization if invalid parameter are loaded
-    ParamListener(rclcpp::Node::SharedPtr node, std::string const& prefix = "")
-    : ParamListener(node->get_node_parameters_interface(), node->get_logger(), prefix) {}
-
-    ParamListener(rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::string const& prefix = "")
+    template <typename NodeT>
+    ParamListener(NodeT node, std::string const& prefix = "")
     : ParamListener(node->get_node_parameters_interface(), node->get_logger(), prefix) {}
 
     ParamListener(const std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface>& parameters_interface,