Add better OSGi support on each module/jar

[laeubi]

GitHub issue resolved: #4079

Briefly describe the changes proposed in this PR:

This is a rebase on devlop of https://github.com/eclipse/rdf4j/pull/3736

FYI @stbischof

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• [x] my pull request is self-contained
• [ ] I've added tests for the changes I made
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• [x] I've squashed my commits where necessary
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