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Validate and remap the topic name for publishers/subscriptions (#1177)

This PR introduces topic name validation and remapping for publisher and subscription endpoints.  
- Updated test cases in test/test-graph.js to verify topic remapping under a namespace.  
- Added a new C++ binding function in src/rcl_node_bindings.cpp to support topic remapping with proper memory management.  
- Enhanced the Node class in lib/node.js to validate and remap topic names before retrieving publisher/subscription info.

Fix: #1176

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