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Provide tutorial about basic concepts of ROS2 (#1243)

This PR adds a comprehensive tutorial document that introduces the fundamental communication patterns in ROS 2, specifically focusing on Topics (publish/subscribe) and Services (request/response) patterns using the rclnodejs JavaScript library.

- Provides detailed explanations and practical examples for ROS 2 Topics and Services
- Includes complete JavaScript code examples for publishers, subscribers, service servers, and clients
- Offers guidance on when to use Topics vs Services with practical use cases

Fix: #1241

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