Use yarn npm publish with OIDC for trusted publishing

- Upgrade to Yarn 4.12.0 for OIDC support (PR yarnpkg/berry#6898)
- Replace npx npm@latest publish --provenance with yarn npm publish
- Provenance is automatic with OIDC trusted publishing
- Add packageManager field where missing

Author: hillna

.github/workflows/ci.yml

@@ -40,14 +40,14 @@ jobs:
       - run: yarn workspace @foxglove/omgidl-parser pack
       - name: Publish `omgidl-parser` to NPM
         if: ${{ startsWith(github.ref, 'refs/tags/omgidl-parser/v') }}
-        run: npx npm@latest publish packages/omgidl-parser/package.tgz --provenance --access public
+        run: yarn npm publish packages/omgidl-parser/package.tgz --access public --provenance
 
       - run: yarn workspace @foxglove/omgidl-serialization pack
       - name: Publish `omgidl-serialization` to NPM
         if: ${{ startsWith(github.ref, 'refs/tags/omgidl-serialization/v') }}
-        run: npx npm@latest publish packages/omgidl-serialization/package.tgz --provenance --access public
+        run: yarn npm publish packages/omgidl-serialization/package.tgz --access public --provenance
 
       - run: yarn workspace @foxglove/ros2idl-parser pack
       - name: Publish `ros2idl-parser` to NPM
         if: ${{ startsWith(github.ref, 'refs/tags/ros2idl-parser/v') }}
-        run: npx npm@latest publish packages/ros2idl-parser/package.tgz --provenance --access public
+        run: yarn npm publish packages/ros2idl-parser/package.tgz --access public --provenance

package.json

@@ -36,7 +36,7 @@
     "email": "contact@foxglove.dev",
     "url": "https://foxglove.dev/"
   },
-  "packageManager": "yarn@4.5.3",
+  "packageManager": "yarn@4.12.0",
   "devDependencies": {
     "@foxglove/eslint-plugin": "2.1.0",
     "@types/jest": "29.5.14",