Use yarn npm publish instead of npx npm publish

Switch from yarn pack + npx npm publish to yarn npm publish for OIDC trusted publishing support.

Author: hillna

.github/workflows/ci.yml

@@ -37,17 +37,14 @@ jobs:
       - run: yarn run lint:ci
       - run: yarn run test
 
-      - 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@11.7.0 publish packages/omgidl-parser/package.tgz --provenance --access public
+        run: yarn workspace @foxglove/omgidl-parser npm publish --provenance --access public
 
-      - 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@11.7.0 publish packages/omgidl-serialization/package.tgz --provenance --access public
+        run: yarn workspace @foxglove/omgidl-serialization npm publish --provenance --access public
 
-      - 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@11.7.0 publish packages/ros2idl-parser/package.tgz --provenance --access public
+        run: yarn workspace @foxglove/ros2idl-parser npm publish --provenance --access public