Add tutorial for type description service (#1268)

This PR adds a comprehensive tutorial for the Type Description Service feature in rclnodejs. The tutorial provides detailed documentation on how to use the built-in ROS 2 introspection service that allows querying message and service type information from running nodes.

Key changes:
- Complete tutorial covering Type Description Service functionality, requirements, and usage patterns
- Multiple practical examples demonstrating basic usage, advanced features, and best practices
- Comprehensive troubleshooting guide and performance considerations

Fix: #1267

Author: minggangw