feat: Use pluginlib to load streamer plugins at runtime, general refactor #167

Job	Run time
industrial_ci (jazzy, main)	4m 5s
industrial_ci (humble, main)	3m 37s
industrial_ci (humble, testing)	3m 30s
industrial_ci (kilted, main)	3m 42s
industrial_ci (jazzy, testing)	3m 35s
industrial_ci (rolling, main)	4m 4s
industrial_ci (rolling, testing)	5m 13s
industrial_ci (kilted, testing)	3m 40s
	31m 26s

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