Increase general library quality

[MatthijsBurgh]

The robostack fork, has applied some improvements like:

• Migrating to typescript
• Migrating to ES6 classes
• Replacing grunt by rollup

This might be good improvements to apply to the original library as well. Preferably we include these changes also in the ros3djs and ros2djs libraries.

[EzraBrooks]

Agreed. I would recommend we start by adding a TypeScript compiler configuration that allows JavaScript files, fixing any issues with statically type checking the current JS, then move forward with TS.

[EzraBrooks]

headed in that direction (adopting the typescript compiler without yet adopting typescript) in #649

[EzraBrooks]

Once #665 (and all the dependent PRs that have come out of it) are in, I plan on making a PR to switch from Grunt + Browserify + Karma to Vite (which includes Rollup) and Vitest, as that's what I have experience with using lately and I think Vite's "library mode" is a very sensible preset for a package like roslibjs.