RobotWebTools / rclnodejs / 24123105776

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Remove compatibility and custom utility code (#1479)

## Changed Files

- [lib/client.js](lib/client.js)
  - Removed the `AbortSignal.any()` polyfill for older Node.js versions.
  - Net effect: the code now relies on native `AbortSignal.any()` support from the runtime.

- [lib/message_introspector.js](lib/message_introspector.js)
  - Replaced the custom private `#deepClone()` implementation with `structuredClone(this.#defaultsCache)`.
  - Net effect: simpler default-message cloning logic with less handwritten recursion.

- [lib/message_serialization.js](lib/message_serialization.js)
  - Replaced `Object.prototype.hasOwnProperty.call(obj, key)` with `Object.hasOwn(obj, key)` in two object-walk helpers.
  - Net effect: minor modernization with no intended behavior change.

- [lib/action/uuid.js](lib/action/uuid.js)
  - Replaced `.replace(/-/g, '')` with `.replaceAll('-', '')`.

- [rosidl_gen/packages.js](rosidl_gen/packages.js)
  - Replaced `.replace(/\\\\/g, '/')` with `.replaceAll('\\', '/')` in two path-normalization helpers.
  - Replaced deprecated `.substr(1)` with `.substring(1)`.

- [rosidl_gen/templates/message-template.js](rosidl_gen/templates/message-template.js)
  - Replaced `.indexOf(...) !== -1` with `.includes(...)` in `isPrimitivePackage()` and `isTypedArrayType()`.

- [scripts/run_test.js](scripts/run_test.js)
  - Replaced `.substr(0, 5) === 'test-'` with `.startsWith('test-')`.
  - Replaced `.indexOf(test) === -1` with `!...includes(test)`.

## Overall Impact

- Removes legacy compatibility code (`AbortSignal.any()` polyfill, custom `#deepClone()`).
- Replaces deprecated APIs (`substr`) and verbose patterns (regex `.replace`, `indexOf`, `hasOwnProperty.call`) with modern equivalents (`substring`, `replaceAll`, `includes`, `startsWith`, `Object.hasOwn`, `structuredClone`).
- All replacements are safe, drop-in substitutions available since Node.js 16–20, well within the 20.20.2 minimum.

Fix: #1458

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