bazel: update rules_nodejs and migrate to rules_js

[eric-higgins-ai]

This finishes the work started in #1388 by fixing CI. It avoids a breaking change by:

• Using the latest rules_js 1.x.x version, instead of updating to rules_js 2 (which removes support for bazel 5).
• Copying the contents of rules_js_dependencies instead of calling it, as the call would need to be added by users in their WORKSPACE files

Context from the previous PR:

Bazel's Node.js dependency comes from rules_nodejs. Previously, bazel/deps.bzl was using rules_nodejs 5.8.0, released in 2022 and only supported Node.js toolchains up to 18.12.1.

This PR bumps rules_nodejs to latest 6.1.1. It also replaces build_bazel_rules_nodejs with rules_js, since npm_install that bazel/emscripten_deps.bzl used was deprecated. The README of rules_nodejs now recommends migrating to rules_js for everything other than the Node.js toolchain: (bazel-contrib/rules_nodejs@371e8ca)

Impetus
Our repo builds with Bazel and uses Emscripten and Node.js. Tried to upgrade Node.js 18 to Node.js 20 and saw that emsdk didn't support rules_nodejs 6+ in the same workspace.

Similarly, it's not possible to update to rules_js v2 in a workspace that also references emsdk.