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[Doc] Switch npmjs README examples to ESM (#1542)

Align the npm-published README (scripts/npmjs-readme.md) with the package's ESM-first API.

- Quick-start snippet: replace the CommonJS `require()` + `init().then()` form with native ESM `import rclnodejs from 'rclnodejs'` and top-level `await rclnodejs.init()`.
- TypeScript guidance: update the sample tsconfig from `commonjs` / `node` / `es2020` to `NodeNext` / `NodeNext` / `es2022` to match ESM module resolution.

Fix: #1541

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