Support 5.1.0

[mtsitrin]

Description

Refactored ibc-go core keeper and 02-client keeper to support 01-dymint as the self consensus.

Notes:

• Dymint tests doesn't work, will be treated afterwards
• The lint error exist at the origin branch as well

closes: #XXXX

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• [ ] Targeted PR against correct branch (see CONTRIBUTING.md)
• [ ] Linked to Github issue with discussion and accepted design OR link to spec that describes this work.
• [ ] Code follows the module structure standards.
• [ ] Wrote unit and integration tests
• [ ] Updated relevant documentation (docs/) or specification (x/<module>/spec/)
• [ ] Added relevant godoc comments.
• [ ] Added a relevant changelog entry to the Unreleased section in CHANGELOG.md
• [ ] Re-reviewed Files changed in the Github PR explorer
• [ ] Review Codecov Report in the comment section below once CI passes