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feat: add structured error handling with class error hierarchy (#1320)

**Public API Changes**
**Added 21 new error classes** (all exported from `rclnodejs`):

**Base:**
- `RclNodeError` - Base class with rich context (code, nodeName, entityType, timestamp, details, toJSON())

**Validation Errors:**
- `ValidationError`
- `TypeValidationError` (includes `argumentName`, `providedValue`, `expectedType`)
- `RangeValidationError` (includes `argumentName`, `providedValue`, `validationRule`)
- `NameValidationError` (includes `invalidName`, `nameType`)

**Operation Errors:**
- `OperationError`
- `TimeoutError` (includes `timeoutMs`)
- `AbortError` (includes `reason`)
- `ServiceNotFoundError` (includes `serviceName`)
- `NodeNotFoundError` (includes `nodeName`)

**Parameter Errors:**
- `ParameterError`
- `ParameterNotFoundError` (includes `parameterName`, `remoteNodeName`)
- `ParameterTypeError` (includes `parameterName`, `expectedType`, `actualType`)
- `ReadOnlyParameterError` (includes `parameterName`)

**Topic/Action Errors:**
- `TopicError`, `PublisherError`, `SubscriptionError`
- `ActionError`, `GoalRejectedError`, `ActionServerNotFoundError`

**Native Errors:**
- `NativeError` (wraps C++ errors with `nativeMessage`, `operation`)

**Breaking (but backward compatible):**
- Existing methods now throw specific error types instead of generic `TypeError`/`Error`/`RangeError`
- All new errors extend `Error`, so existing `catch (error)` blocks still work
- Users can now catch specific error types for better error handling (e.g., `catch (error) { if (error instanceof rclnodejs.TimeoutError) ... }`)

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