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 [Web runtime] Add a Swagger UI page for the OpenAPI demo (#1566)

Adds a self-contained Swagger UI viewer and updates documentation to make the `rclnodejs-web openapi` output immediately usable in the web demo workflow, without introducing new runtime/library dependencies.

**Changes:**
- Add `demo/web/javascript/swagger-ui.html` (and screenshot) to browse a generated `openapi.json` via Swagger UI from a CDN.
- Update demo docs (`demo/web/javascript/README.md`, `index.html`) to point users to the Swagger UI page and reduce duplicated `fetch()`/`EventSource` walkthrough text.
- Update project docs (`README.md`, `web/README.md`) to highlight OpenAPI export and refresh Web-runtime messaging.

Fix: #1564

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