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Phase 1: Rename CJS-only build/generator files to .cjs (#1529)

First phase of the ESM migration. Renames the build- and generator-time modules that must remain CommonJS — they run synchronously under Node (node-gyp, `postinstall`, message generation) — from `.js` to `.cjs`. The explicit `.cjs` extension pins them to CommonJS ahead of introducing `"type": "module"` in Phase 3.

## Renamed to `.cjs` (24 files)

- **`scripts/`** — `config`, `cpplint`, `generate_messages`, `generate_tsd`, `install`, `ros_distro`, `run_test`, `tag_prebuilds`
- **`rosidl_gen/`** — `action_msgs`, `deallocator`, `filter`, `generate_worker`, `idl_generator`, `index`, `message_translator`, `packages`, `primitive_types`
- **`rosidl_gen/templates/`** — `action-template`, `message-template`, `service-event-template`, `service-template`
- **`rosidl_parser/`** — `py_utils`, `rosidl_parser`
- **`rostsd_gen/`** — `index`

## Reference updates (19 files)

- **`package.json`** — `scripts` + `bin` entries point at the `.cjs` paths
- **`binding.gyp`** — generator/config paths
- **`.npmignore`** / **eslint globs** — include `.cjs`
- **Internal requires** — cross-references within the renamed trees
- **Worker spawn path** — `generate_worker.cjs`
- **Extensionless require fix** — `py_utils` → `./py_utils.cjs` (extensionless `require` does *not* resolve `.cjs`)
- **Emitted require paths** — `message-template.cjs` output strings
- **External requires** — `index.js`, `lib/interface_loader.js`, `lib/message_introspector.js`, `example/rosidl/*`, and 8 `test/*` files

Fix: #1358

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