refactor(service): make clients call-based

[schmidma]

Description

GitHub shows this PR against main, but the intended review base is #161.

Replace the queue-style public API with call-based client methods.

This keeps service interactions aligned with the higher-level builder and request flow used elsewhere in the stack and simplifies downstream usage.

Checklist

• Ran ./scripts/check-local.sh successfully
• Added or updated tests and documentation when applicable

[codecov]

Codecov Report

❌ Patch coverage is 69.83607% with 184 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
crates/ros-z/src/service.rs	76.38%	34 Missing ⚠️
crates/ros-z/src/graph.rs	71.02%	31 Missing ⚠️
crates/ros-z/src/action/client.rs	11.76%	30 Missing ⚠️
...rates/ros-z/src/dynamic/type_description_client.rs	73.00%	27 Missing ⚠️
crates/ros-z/src/pubsub.rs	54.16%	11 Missing ⚠️
...ates/ros-z/src/dynamic/type_description_service.rs	0.00%	10 Missing ⚠️
crates/ros-z/src/lifecycle/client.rs	0.00%	10 Missing ⚠️
crates/ros-z-protocol/src/entity.rs	72.72%	9 Missing ⚠️
crates/ros-z/src/lifecycle/node.rs	0.00%	7 Missing ⚠️
crates/ros-z-protocol/src/format/rmw_zenoh.rs	92.68%	6 Missing ⚠️
... and 2 more

Files with missing lines	Coverage Δ
crates/ros-z/src/action/server.rs	74.38% <ø> (ø)
crates/ros-z/src/config.rs	81.62% <ø> (ø)
crates/ros-z/src/context.rs	50.59% <ø> (ø)
crates/ros-z/src/encoding.rs	95.37% <ø> (ø)
crates/ros-z/src/event.rs	87.57% <100.00%> (+0.25%)	⬆️
crates/ros-z/src/node.rs	50.66% <100.00%> (ø)
crates/ros-z/src/parameter/client.rs	98.38% <100.00%> (ø)
crates/ros-z/src/parameter/service.rs	78.74% <100.00%> (ø)
crates/ros-z/src/shm.rs	62.74% <ø> (ø)
crates/ros-z/src/dynamic/error.rs	0.00% <0.00%> (ø)
... and 11 more

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