Type UAV runtime comms and annotations

[ethayu]

Fixes #232.
Fixes #248.
Part of #201.

Summary

• Type raw ROS create/destroy callables and managed comm registry boundaries.
• Add structural typing for peer connection callbacks, heartbeat publishers, publisher/client delegation, and active-mode access.
• Validate UAV camera offset parameters before converting them to floats.
• Folded Type UAV runtime annotations #249 into this PR as a separate commit.

Verification

• Constituent focused Pyright, compile, ruff, and runtime/peer pytest checks from Type UAV runtime comms and annotations #233 and Type UAV runtime annotations #249 passed when created.
• Dynamic peer reconnect check after condensation: 1 passed in 17.75s.