Add kayobe seed service upgrade command

Adds a new command to upgrade containerised services on the seed:

kayobe seed service upgrade

This is largely the same as the deploy command, since there is no
kolla-ansible bifrost-upgrade command yet.

A limitation in Bifrost requires us to remove IPA images before
upgrading the bifrost container.

Change-Id: Ibbe01e972487e69dbb753a67efcf13e3ae0800de
Story: 2004308
Task: 27872