RobotWebTools / rclnodejs / 25156467665

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Add lightweight WebSocket bridge for browser access to ROS 2 (#1495)

Adds a lightweight WebSocket bridge built into rclnodejs so a plain browser (or any WebSocket-capable client) can talk to ROS 2 with **no JavaScript library** on the client side — built-in `WebSocket` + `JSON` are enough.

## Highlights

- **Resource-style URLs**: `ws://host:port/topic/<name>?type=<pkg>/msg/<Type>` and `ws://host:port/service/<name>?type=<pkg>/srv/<Type>`; the URL *is* the topic/service, the WS frame *is* the ROS message as JSON.
- **Same Node.js process** as your `rclnodejs` app — no extra Python service to deploy or version-match against ROS distros.
- **Lightweight alternative to `rosbridge_suite` + `roslibjs`** for the common pub/sub + service-client cases (full comparison table in `rosocket/README.md`).
- **CLI shipped as a `bin` entry** — `npx rosocket --port 9000 --topic /chatter:std_msgs/msg/String`; supports repeatable `--topic`/`--service` defaults, `--host`, `--node-name`, integer-validated `--port`, and clean SIGINT/SIGTERM shutdown with a hard-exit fallback.
- **Programmatic API**: `const { startRosocket } = require('rclnodejs/rosocket'); await startRosocket({ node, port, topicTypes, serviceTypes, verifyClient })`.
- **Optional pre-declared types** (`topicTypes` / `serviceTypes`) let browsers omit `?type=`; without them the bridge stays generic.
- **Service envelope**: bare `{a,b}` request shape *or* wrapped `{id, request:{...}}` for concurrent in-flight call correlation; responses echo the same shape.
- **64-bit ints**: accepts JSON numbers or BigInt-encoded strings (`"12n"`); responses use the rclnodejs `toJSONSafe` encoding.
- **Error/close conventions**: `{error: "<msg>"}` frames; protocol violations close with `1008`, server errors with `1011`.
- **`verifyClient` hook** wraps `ws`'s native `(info, cb)` callback into the documented `(req: IncomingMessage) => boolean` signature.
- **Tests**: 7 mocha cases covering unknown-path/missing-type rejection,... (continued)

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