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Align WS and HTTP transports on a default `/capability` path (#1515)

Both transports now apply the default path when (and only when) the caller didn't supply one. Before this commit WS required the caller to spell `/capability` out (`connect('ws://host:9000')` silently failed against a default server) and HTTP did the opposite (it hardcoded `/capability/<kind>/<name>` so `connect('http://host:9001/capability')` silently double-prefixed and 404'd). Pure addition: existing `connect('ws://host:9000/capability')` and `connect('http://host:9001')` callers see byte-identical request URLs.

- `web/client.js`: new `_normaliseWsPath()` wired into `_resolveUrls()` for both URL forms; `_HttpLink.constructor` only appends `/capability` when the URL doesn't already end with it; `_fetch()` builds URLs from the normalised baseUrl with no hardcoded literal. `RosClient` JSDoc + matching `web/index.d.ts` updated to drop the spell-it-out examples and document the "pass an explicit non-default path" escape hatch for path-rewriting proxies.
- `test/test-web-ws.js`: +2 cases (`ws://host:port` and `{ ws: 'ws://host:port' }` against a live runtime).
- `test/test-web-http.js`: +2 cases (`httpBase + '/capability'` under both single-string and `{ http }` forms).

Out of scope: custom server `basePath` / `path` configurations behind a reverse proxy. Same "user URL is authoritative when non-default" model could extend to support them, but that deserves its own PR with proxy-deployment docs and tests.

Fix: #1510

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