[FEA] Create an end-to-end integration test for Kafka

[dagardner-nv]

Is your feature request related to a problem? Please describe.
We currently don't have tests for the Kafka source and the Kafka sink.

Describe the solution you'd like
An end to end validation test that is able to spin up docker containers for Kafka in a similar manner to the way the validation tests spin up a container for Triton.

Ideally it would be good to be able to run these tests as a part of CI.
If we had a Kafka cluster setup for the purposes of CI, tests could theoretically create unique topic names for the purposes of testing.

[dagardner-nv]

Talking with @ajschmidt8 this should be possible with a sidecar container.
Currently this only works with scripted Jenkins pipelines (we have a declarative pipeline), but would be supported by github actions when we move off of Jenkins.

So once the validation test is complete, we could either reformat the Jenkinsfile as a scripted pipeline or use github actions if they are available.