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An IBC relayer for ibc-go

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This PR adds an interface for implementing finality gadgets for the substrate chain provider

After talking with Andrew, plumbing for this feature has already been added for the Event Processor. It just needs to be wired up through config and CLI. For a non-breaking...

T: Enhancement
T: New Feature

https://github.com/polymerdao/ibc-go/blob/ds/polymer-multihop/modules/core/04-channel/keeper/multihop_packet_test.go cc @jackzampolin and @agouin for context

Demo: https://github.com/cosmos/relayer/blob/main/docs/demo.md

C: Documentation

When attempting to create a new light client the relayer attempts to find an existing light client with a matching consensus state to ensure that redundant light clients are not...

T: Bug 🪲
C: CLI
C: Relayer

This code used to be present before refactoring to account for the `Provider` abstraction. We should get this added back asap and start building out testing coverage in `ibctest`

C: Relayer
T: New Feature

We should add some recommendations on specific settings to use when running the relayer in the cloud. I think we could rename [node_pruning.md](https://github.com/cosmos/relayer/blob/main/docs/node_pruning.md) file to "Recommended settings" and add info...

C: Documentation

If non-Cosmos chains will be included in the chain registry then we will need to properly handle constructing the `ProviderConfig`'s for those chains as well inside of the call to...

T: Refactor
C: CLI

As we saw today with Juno, it requires a quite a bit of manual intervention to bring back IBC light clients after a chain forks. It would be ideal to...

C: CLI
C: Relayer
T: New Feature

Adds block query targeting mechanism, accounting for clock drift and variable RPC node time from the block timestamp until blocks are ready to be queried. This removes the fixed 1...