Type ROS support package helpers

[ethayu]

Refs #210.
Refs #212.
Refs #214.
Refs #216.
Part of #201.

Summary

• Add typed ROS parameter extraction helpers for UDP bridge configuration.
• Keep the payload motor-state plot animation alive in module state.
• Normalize payload/sim launch typing for mixed launch API values.
• Tighten sim package typing around world overrides, resource lookup, scoring, and world generation.
• Folded Type UDP bridge parameters #211, Keep payload plot animation in module state #213, and Normalize ROS launch typing #215 into this PR as separate commits.

Verification

• Constituent focused Pyright, compile, ruff, and sim pytest checks passed when created.
• Integrated sim pytest after condensation: 23 passed, 0 failed.