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[docs] Demonstrate web-native SSE subscribe in READMEs (#1554)

This PR updates the project READMEs to highlight a “web-native” way to subscribe to ROS 2 topics using Server-Sent Events (SSE) via the browser’s built-in `EventSource`, without requiring a browser SDK.

**Changes:**
- Add an `EventSource` snippet demonstrating SSE-based topic subscription in the root `README.md`.
- Mirror the same SSE subscription snippet in `scripts/npmjs-readme.md` (used for npm packaging/readme generation).

Fix: #1510

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