Added new data types meta package: cl-tf-datatypes
Removed data type specific functions from cl-tf and moved them into cl-tf-datatypes

The functions and definitions for cl-tf specific datatypes (pose-stamped, ...) are not located in cl-tf-datatypes. This serves the purpose of having them available for other packages such as cl-tf2 without generating a necessity for making cl-tf2 depend on cl-tf.
Made cl-tf2 use the data type definitions from cl-tf-datatypes instead of depending on cl-tf