go/worker/storage: Add initial sync from checkpoints

[jberci]

Closes #2479

[kostko]

Would be cool to also have some failure case tests, e.g., something like a Byzantine storage node that we could test against. Maybe for another issue.

[codecov]

Codecov Report

Merging #3181 into master will increase coverage by 0.41%.
The diff coverage is 75.37%.

@@            Coverage Diff             @@
##           master    #3181      +/-   ##
==========================================
+ Coverage   67.43%   67.84%   +0.41%     
==========================================
  Files         370      371       +1     
  Lines       36541    36864     +323     
==========================================
+ Hits        24640    25009     +369     
+ Misses       8702     8679      -23     
+ Partials     3199     3176      -23     

Impacted Files	Coverage Δ
go/registry/api/runtime.go	44.37% <0.00%> (-0.63%)	⬇️
go/storage/mkvs/checkpoint/checkpoint.go	86.66% <ø> (ø)
go/storage/mkvs/checkpoint/restorer.go	82.45% <0.00%> (-13.47%)	⬇️
go/worker/storage/committee/checkpoint_sync.go	74.91% <74.91%> (ø)
go/worker/storage/committee/node.go	74.59% <91.66%> (+0.77%)	⬆️
go/runtime/committee/committee.go	62.74% <100.00%> (+7.18%)	⬆️
go/storage/api/grpc.go	70.28% <100.00%> (ø)
go/storage/client/init.go	72.22% <100.00%> (+0.79%)	⬆️
go/worker/storage/worker.go	92.52% <100.00%> (+0.77%)	⬆️
go/consensus/tendermint/api/errors.go	86.66% <0.00%> (-13.34%)	⬇️
... and 30 more

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[kostko]

Tests seem to be failing?

[kostko]

Could you add a configuration flag, e.g. worker.storage.checkpoint_sync (which defaults to true) so that we can disable checkpoint sync (e.g., in tests).