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Support to get the RMW implementation identifier (#1148)

This PR adds support for retrieving the RMW implementation identifier via the Node API.

- Implements a new C++ binding to call `rmw_get_implementation_identifier()`
- Exposes an instance method `getRMWImplementationIdentifier()` on the JavaScript `Node` class  
- Adds corresponding unit tests in TypeScript and JavaScript  
- Updates build (linking `rmw_fastrtps_cpp`) and CI to use the FastRTPS RMW implementation

Fix: #1149, #1153

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