Add cluster id to the membership and request-queue topic names

Coordinators subscribe to 3 statestore topics: catalog-update, impala-membership and impala-request-queue. The last two topics are about query scheduling. To separate the cluster or share catalogd and statestore across Impala clusters, we can add the cluster id to these two topic names. Impalads are only visible to each other inside the same cluster (i.e. using the same cluster id). Queries won't be scheduled across clusters.