Switch from OpenCensus to OpenTelemetry for tracing

[jmatth]

Depends on viamrobotics/goutils#511

• Replaces all go.opencensus.io/trace imports with go.viam.com/utils/trace, which handles migrating most of the OC tracing to Otel
• Changes type signatures where necessary to account for the new Otel types mostly being interfaces where OC provided structs
• Replaces use of DevelopmentExporter with OtelDevelopmentExporter

[benjirewis]

Surprised we even had so many usages in rdk.

[github-actions]

Availability

Scene #	viamrobotics:main	jmatth:trace-debug-logger	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	90%	90%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	jmatth:trace-debug-logger	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	36%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	5.35±1.90	5.23±1.83	2%	52%	➖
4	3.13±0.40	3.13±0.40	-0%	50%	➖
5	10.26±3.30	10.26±3.30	-0%	50%	➖
6	10.51±4.32	10.51±4.32	-0%	50%	➖
7	7.04±2.49	7.15±2.55	-2%	49%	➖
8	0.90±0.00	0.90±0.00	-0%	50%	➖
9	4.24±0.18	4.32±0.37	-2%	43%	➖
10	12.84±0.41	12.84±0.41	-0%	50%	➖

Performance

Scene #	viamrobotics:main	jmatth:trace-debug-logger	Percent Improvement	Probability of Improvement	Health
1	0.03±0.00	0.03±0.01	6%	61%	➖
2	0.04±0.00	0.04±0.01	-1%	48%	➖
3	0.08±0.04	0.08±0.04	-2%	49%	➖
4	1.18±0.04	1.16±0.03	2%	69%	➖
5	1.68±0.38	1.67±0.38	1%	51%	➖
6	1.95±0.64	1.93±0.60	1%	51%	➖
7	1.95±0.63	1.98±0.67	-1%	49%	➖
8	0.04±0.01	0.04±0.00	6%	64%	➖
9	1.96±0.08	2.03±0.21	-3%	39%	➖
10	3.36±0.54	3.36±0.55	0%	50%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: b39abd91b2d7c568703e39f08cf352167db9a609
The SHA1 for jmatth:trace-debug-logger is: b39abd91b2d7c568703e39f08cf352167db9a609

• 10 samples were taken for each scene