Full in/out/err introspection of commands ran by Axii

Implements:

• Proper command handling with full I/O introspection in armarx_setup.core.util.commands, function execute
• Interface of a Console in armarx_setup.core.util.cli
• Introduction of console and executor properties in global Axii config object
• Further separation of Rich and core framework by implementing Rich-implemented Console in armarx_setup.cli and making it available for the system via global Axii config object
• Providing a Rich-decorated version of execute with Rich-Rules to highlight command output
• Examples of new execute usage can be seen in the corresponding unit tests

Cleanup from !391 (closed)