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HTTP transport for call/publish (#1512)

- New `HttpTransport` (lib/runtime/transports/http.js): POST /{basePath}/capability/{call|publish}/{name}, dispatcher-code → HTTP-status mapping, 1 MiB body cap, optional verifyRequest hook. Re-exported from lib/runtime/index.{js,d.ts}.

- Browser SDK (web/client.js, web/index.d.ts) now multi-transport: connect() / RosClient accept `string | { http, ws }` and pick the transport from the URL scheme. http:// derives a sibling ws:// URL and opens it lazily on first subscribe(). New _HttpLink uses fetch() and surfaces structured errors (network_error, invalid_response, http_<status>).

- Tests: test/test-web-http.js (+423, 23 cases covering wire format, SDK, and defensive paths). test-web.js → test-web-ws.js.

- CI: suppress two Node-internal LSan reports (ContextifyContext, ContextifyScript) triggered once we load web/client.js as ESM and call fetch() — singletons retained for process lifetime.

- Drop unused WebSocketConnection export from transports/ws.js.

Fix: #1510

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