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[Web Runtime] Typed Browser SDK over WebSocket (#1511)

New `rclnodejs/web` subpath: a pure-JS, ESM Browser SDK that talks to the existing Web Runtime over WebSocket. Zero native deps; safe to bundle for browsers. Verb API:

```js
import { connect } from 'rclnodejs/web';

const ros = await connect('ws://robot.local:9000/capability');
const reply = await ros.call('/add_two_ints', { a: '2n', b: '40n' });
const sub   = await ros.subscribe('/scan', (m) => render(m));
await ros.publish('/cmd_vel', { linear: { x: 0.1 } });
```

Today only WebSocket is wired up. HTTP support will land alongside the server-side `HttpTransport` in a follow-up PR; the SDK throws a clear error on `http://` URLs so callers fail fast.

## Files

| Area | Path |
|---|---|
| SDK implementation (ESM, dynamic `ws` fallback in Node) | `web/client.js` |
| Public re-export | `web/index.js` |
| Typed surface (`call<'pkg/srv/Name'>` derives request/response from `ServicesMap`) | `web/index.d.ts` |
| ESM mode marker | `web/package.json` (`{"type":"module"}`) |
| Subpath export `./web` | `package.json` |
| SDK-only integration tests (4 cases) | `test/test-web.js` |

Fix: #1510

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