BREAKING CHANGE: use runkit at runtime

[doudou]

Depends on:

• [x] https://github.com/rock-core/tools-orogen/pull/9
• [ ] https://github.com/rock-core/package_set/pull/215
• [x] https://github.com/rock-core/tools-orogen/pull/10
• [x] https://github.com/rock-core/tools-orogen_syskit_tests/pull/4
• [x] https://github.com/tidewise/bundles-seabots/pull/139
• [x] https://github.com/rock-core/rock.vscode-package_set/pull/4
• [x] https://github.com/rock-gazebo/simulation-rock_gazebo/pull/48
• [ ] https://github.com/tidewise/bundles-wetpaint/pull/343
• [ ] https://github.com/tidewise/bundles-seabots/pull/175
• [ ] https://github.com/tidewise/perception-orogen-radar_collision_object_converter/pull/3
• [ ] https://github.com/tidewise/perception-orogen-uw_docking_markers_detection/pull/10
• [ ] https://github.com/rock-core/tools-syskit-log/pull/17

The main breaking change is the loss of ROS support. Most Syskit+Rock code should work unchanged

I have tagged the current master to v2.1.0 and set the version of this code to 3.0.0