feat: Use pluginlib to load streamer plugins at runtime, general refactor #171

Job	Run time
industrial_ci (jazzy, testing)	4m 28s
industrial_ci (jazzy, main)	3m 45s
industrial_ci (rolling, testing)	4m 26s
industrial_ci (rolling, main)	3m 31s
industrial_ci (humble, main)	3m 18s
industrial_ci (kilted, testing)	3m 34s
industrial_ci (kilted, main)	3m 50s
industrial_ci (humble, testing)	3m 29s
	30m 21s

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