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[Demo] Modernize TypeScript demos to NodeNext + ES2022 (#1534)

## 1. ESM migration of `example/` (44 files)
Converted every CommonJS example to native ESM (`.cjs` → `.mjs`):
- Dropped `'use strict'`, replaced `require('…/index.js').default` with `import rclnodejs from '…/index.js'`.
- Unwrapped `main()` / `.then().catch()` into top-level `await` + `try/catch`.
- Preserved original copyright headers.
- Updated all 10 example READMEs (`.cjs` → `.mjs`, plus the "import rclnodejs from 'rclnodejs'" note).

## 2. ESM migration of demos (3 files)
- `demo/rosocket/server.cjs` → `server.mjs`
- `demo/web/javascript/runtime.cjs` → `runtime.mjs`
- `demo/web/javascript/static.cjs` → `static.mjs` (adds `__dirname` shim via `fileURLToPath`)
- Directory imports made explicit (`../../rosocket/index.js`, `../../../lib/runtime/index.js`).
- Updated `demo/rosocket/README.md`, `demo/web/javascript/README.md`, and `demo/web/typescript/server.ts` comments.

## 3. demo/typescript modernization (no .cjs→.mjs)
- `actions/`, `services/`, `topics/` `tsconfig.json`: `module`/`moduleResolution` → `NodeNext`, `target`/`lib` → ES2022, removed stale `./types` typeRoots.
- Updated `README.md` + per-folder READMEs (ES2022 wording, removed false "local type definitions" claims).

## 4. ESM fix for benchmarks (4 files)
`benchmark/rclnodejs/**/*.js` used bare `require()` under the root `"type": "module"` and threw `ReferenceError: require is not defined`. Converted to ESM (`import { program } from 'commander'`, `import rclnodejs from '../../../index.js'`). Verified against ROS 2 Jazzy: topic + service pairs run with no exceptions.

## 5. CommonJS island fix for jsdoc tooling (1 file)
Added `tools/jsdoc/package.json` = `{"type":"commonjs"}` so `build-index.js`, `regenerate-published-docs.js`, and the jsdoc template `publish.js` (which must keep that exact name and be CJS) load correctly. Without it, `npm run docs` aborts with "Unable to load template: require is not defined". Verified: `n... (continued)

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