Mqtt refactor

[andchiind]

Closes #1163

Previously all telemetry thread logic was done within each isar implementation. This PR moves the responsibility to ISAR, reducing the overall complexity in the robot interface, whilst providing greater control/error handling within the telemetry threads. In some cases the telemetry thread functionality was hackily used to implement general long lived threads for other purposes in ISAR instances. For this purpose I have instead created a new robot interface function for starting generic threads.

There are several commits that change the robot interface, but the hope is that all commits in this PR will be included in a single ISAR release so that we only need to update the ISAR implementations once.

See:

• Use latest isar telemetry update isar-robot#396
• Use latest isar telemetry update isar-anymal#27
• https://github.com/equinor/isar-taurob/pull/806

Ready for review checklist:

• A self-review has been performed
• All commits run individually
• Temporary changes have been removed, like logging, TODO, etc.
• The PR has been tested locally
• A test has been written
  • This change doesn't need a new test
• Relevant issues are linked
• Remaining work is documented in issues
  • There is no remaining work from this PR that requires new issues
• The changes do not introduce dead code as unused imports, functions etc.