Add channel close init and confirm CLIs

[ancazamfir]

Closes: informalsystems/ibc-rs#94

Description

Implements close CLIs. Note that testing these require custom gaia image as described in https://github.com/informalsystems/ibc-rs/blob/anca/chan_close/relayer-cli/relayer_operation_instructions.md

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For contributor use:

• Updated the Unreleased section of CHANGELOG.md with the issue.
• If applicable: Unit tests written, added test to CI.
• Linked to Github issue with discussion and accepted design OR link to spec that describes this work.
• Updated relevant documentation (docs/) and code comments.
• Re-reviewed Files changed in the Github PR explorer.

[codecov-io]

Codecov Report

Merging #556 (ca6a277) into master (b1b37f5) will increase coverage by 32.6%.
The diff coverage is 67.4%.

@@            Coverage Diff            @@
##           master    informalsystems/hermes#556      +/-   ##
=========================================
+ Coverage    13.6%   46.3%   +32.6%     
=========================================
  Files          69     138      +69     
  Lines        3752    9172    +5420     
  Branches     1374       0    -1374     
=========================================
+ Hits          513    4251    +3738     
- Misses       2618    4921    +2303     
+ Partials      621       0     -621     

Impacted Files	Coverage Δ
...application/ics20_fungible_token_transfer/error.rs	0.0% <0.0%> (ø)
...pplication/ics20_fungible_token_transfer/events.rs	0.0% <ø> (ø)
...ion/ics20_fungible_token_transfer/msgs/transfer.rs	0.0% <0.0%> (ø)
modules/src/events.rs	0.0% <0.0%> (ø)
modules/src/ics02_client/error.rs	100.0% <ø> (ø)
modules/src/ics02_client/raw.rs	0.0% <0.0%> (ø)
modules/src/ics03_connection/error.rs	100.0% <ø> (+66.6%)	⬆️
modules/src/ics03_connection/msgs/conn_open_try.rs	86.7% <ø> (ø)
modules/src/ics03_connection/version.rs	97.6% <ø> (ø)
modules/src/ics04_channel/channel.rs	77.2% <ø> (+62.1%)	⬆️
... and 257 more

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