RobotWebTools / rclnodejs / 26381778837

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 [Web Runtime] `rclnodejs/web` SDK guide + JavaScript and TypeScript browser demos (#1514)

A typed Web SDK guide for `rclnodejs/web`, two end-to-end browser demos (zero-build JavaScript + Vite TypeScript), and the surrounding doc / terminology / packaging cleanup.

## What's new

- **`web/README.md`** *(new)* — single source of truth for the browser SDK: server runtime, three-verb client (`call` / `publish` / `subscribe`), `connect()` URL shapes, lifecycle, `curl`-able HTTP transport, and a `rclnodejs/web` vs. `rosbridge` + `roslibjs` table.
- **`demo/web/javascript/`** *(new)* — zero-build demo: `node runtime.js` + `node static.js`, no `npm install`, no bundler.
- **`demo/web/typescript/`** *(new)* — Vite + tsx demo with the typed three-verb client; `npm run server` wraps tsx with `NODE_OPTIONS=--no-deprecation` to silence Node's `DEP0205` noise.
- **`bin/rclnodejs-web.js`** — CLI tightened: repeatable `--call/--publish/--subscribe` flags, `web.json` mode, friendlier startup banner.
- **`README.md`**, **`scripts/npmjs-readme.md`**, **`tutorials/README.md`** — repositioned around three browser stories (`rclnodejs/web`, `rosocket`, none-of-the-above) and link the new SDK guide.
- **`rosocket/README.md`** + **`demo/rosocket/README.md`** — recast as the **lighter sibling**; cross-link to the SDK guide for the rosbridge comparison.
- **Runtime touch-ups** (`lib/runtime/dispatcher.js`, `lib/runtime/transports/ws.js`, `lib/message_serialization.js`, `rosocket/index.js`, `test/test-rosocket.js`) — comment / wording only, no behaviour change.

Fix: #1510

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