Feature: Load config service

[Crola1702]

Description

These changes implement the feature requested in #1594, by creating the service when the visualization frame is initialized.

Changes:

• Refactored loadDisplayConfig which now receives a string that can be a path to a configuration file or the configuration yaml string
• Created new service file in rviz_resource_interfaces that receives a config_string as a request and responds with a trigger (success and message). The service callback just calls loadDisplayConfig
• rviz_common now depends on rviz_resource_interfaces