[Web runtime] Add action capability dispatch to the Web Runtime

[minggangw]

• Add allow-listed action capabilities with goal, feedback, result, and cancellation support.
• Support actions over WebSocket and HTTP/SSE in the browser SDK, including typed action APIs.
• Add --action support to the rclnodejs-web CLI and runtime declarations.
• Safely manage pending goals, duplicate IDs, disconnects, and action-client cleanup.
• Handle truncated and CRLF-framed SSE streams.
• Add WebSocket, HTTP, CLI, cancellation, lifecycle, and error-path tests.

Fix: #1579

[Copilot]

🟡 Changes recommended

The new HTTP SSE action stream pump has an unhandled-rejection risk (errors can throw before the try/catch), which should be fixed to avoid potential crashes.

Once you've addressed the issues Copilot identified, you can request another Copilot review.

Pull request overview

Adds ROS 2 action capability dispatch support to the rclnodejs Web Runtime, enabling clients using rclnodejs/web to send action goals and receive feedback/results over WebSocket, and over HTTP via SSE (with HTTP cancel explicitly unsupported).

Changes:

• Extend runtime capability registry/types to include action and route kind: 'action' frames in the dispatcher.
• Implement WebSocket and HTTP(SSE) action goal execution flows, including feedback/result streaming and goal cancellation (WebSocket only).
• Add integration + protocol-level tests covering WebSocket and HTTP action behavior, plus update existing runtime tests for the new action handling.

File summaries

File	Description
web/index.d.ts	Adds action-related SDK typings (ActionName, wire types, ActionHandle, RosClient.action overloads).
web/client.js	Implements SDK-side action goal dispatch over WS and HTTP(SSE), feedback routing, and cancellation (WS-only).
lib/runtime/capability_registry.js	Adds action capability kind storage, exposure, resolution, and listing.
lib/runtime/index.d.ts	Extends runtime types to include action capability kind and action frame fields (op, goalId).
lib/runtime/dispatcher.js	Implements action goal send/cancel handling and feedback/result emission on the wire.
lib/runtime/transports/http.js	Adds SSE-based HTTP action transport (HttpActionConnection) and enables action over HTTP.
test/test-web-action.js	New end-to-end tests for action wire protocol and SDK over WS and HTTP(SSE).
test/test-runtime.js	Updates/extends runtime tests to cover action registry and wire behavior changes.

Review details

• Files reviewed: 6/8 changed files
• Comments generated: 1
• Review effort level: Lite

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[coveralls]

coverage: 90.777% (-0.3%) from 91.068% — minggangw:fix-1579 into RobotWebTools:develop