Reintroduce concept of domains into TIPC.
Possibility to have multiple, independent communication domains on one pc.

See also concept of framework channel identifier in RCA-Framework 2009 <trac/browser/rca/trunk/roboter/allgemein/software/defines/framework_channel_identifier.h> #6775

Use container ID from XML-files as Domain-ID -> should be changed to an own idetifier, because more than one container can be part of one domain and one container can be part of more than one domain (e.g. simulator).
Own Domain element in XML.
One Container can par of many Domains and a Domain can have many Containers.
Merge branch 'feature/two_robots_on_one_pc' into develop