Add final `service_domain` version

[aalmds]

For allowing distributed communication, a json file is being used as a service domain containing all services names and parameters needed to communicaiton.

This issue aims:

• [ ] Validate if the json is the best approach
• [ ] Add remaining services names and parameters
• [ ] Define better approach (Mappers, Adaptors, Singleton...) for service discovery
• [ ] Document each node will all usages across the architecture, e.g, where "Vision" name will be used and what type of communication infrastructure is behind it.