Type UAV schema registry

[ethayu]

Summary

• wrap ROS package-share lookup fallback in typed mission-spec helpers
• cast dynamic Pydantic model field expansion at the schema boundary
• narrow dynamic TypedDict metadata access and runtime Literal/TypedDict reconstruction
• preserve committed schema output without regenerating registry data

Fixes #234
Part of #201

Verification

• source /opt/ros/humble/setup.bash && source /home/ubuntu/monorepo/controls/sae_2025_ws/install/setup.bash && export PYTHONPATH="$PWD/controls/sae_2025_ws/src/uav:$PYTHONPATH" && npx --yes pyright controls/sae_2025_ws/src/uav/uav/runtime/schema.py controls/sae_2025_ws/src/uav/uav/runtime/schema_generator.py controls/sae_2025_ws/src/uav/uav/runtime/schema_registry.py controls/sae_2025_ws/src/uav/uav/runtime/mission_spec.py controls/sae_2025_ws/src/uav/uav/runtime/mode_paths.py --outputjson
• python3 -m compileall controls/sae_2025_ws/src/uav/uav/runtime/schema.py controls/sae_2025_ws/src/uav/uav/runtime/schema_generator.py controls/sae_2025_ws/src/uav/uav/runtime/schema_registry.py controls/sae_2025_ws/src/uav/uav/runtime/mission_spec.py controls/sae_2025_ws/src/uav/uav/runtime/mode_paths.py
• ruff check --config controls/sae_2025_ws/.ruff.toml controls/sae_2025_ws/src/uav/uav/runtime/schema.py controls/sae_2025_ws/src/uav/uav/runtime/schema_generator.py controls/sae_2025_ws/src/uav/uav/runtime/schema_registry.py controls/sae_2025_ws/src/uav/uav/runtime/mission_spec.py controls/sae_2025_ws/src/uav/uav/runtime/mode_paths.py
• ruff format --check --config controls/sae_2025_ws/.ruff.toml controls/sae_2025_ws/src/uav/uav/runtime/schema.py controls/sae_2025_ws/src/uav/uav/runtime/schema_generator.py controls/sae_2025_ws/src/uav/uav/runtime/schema_registry.py controls/sae_2025_ws/src/uav/uav/runtime/mission_spec.py controls/sae_2025_ws/src/uav/uav/runtime/mode_paths.py
• source /opt/ros/humble/setup.bash && source /home/ubuntu/monorepo/controls/sae_2025_ws/install/setup.bash && export PYTHONPATH="$PWD/controls/sae_2025_ws/src/uav:$PYTHONPATH" && python3 -m uav.runtime.schema_generator --check
• source /opt/ros/humble/setup.bash && source /home/ubuntu/monorepo/controls/sae_2025_ws/install/setup.bash && export PYTHONPATH="$PWD/controls/sae_2025_ws/src/uav:$PYTHONPATH" && python3 -m pytest -q controls/sae_2025_ws/src/uav/test/test_mission_spec.py controls/sae_2025_ws/src/uav/test/test_schema_models.py controls/sae_2025_ws/src/uav/test/test_schema_registry_runtime.py

Not included as a gate: test_schema_validation.py currently fails on origin/main data because a checked-in fleet references missing uav/missions/payload_full_run.yaml.