rootless: new function to join existing conmon processes

move the logic for joining existing namespaces down to the rootless
package.  In main_local we still retrieve the list of conmon pid files
and use it from the rootless package.

In addition, create a temporary user namespace for reading these
files, as the unprivileged user might not have enough privileges for
reading the conmon pid file, for example when running with a different
uidmap and root in the container is different than the rootless user.

Closes: https://github.com/containers/libpod/issues/3187

Signed-off-by: Giuseppe Scrivano <gscrivan@redhat.com>

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