Taking a stab at fixing #6114 

This PR changes the initialization behavior for KafkaSupervisor so that it does 
not block the lifecycle if supervisor init fails. The supervisor will retry the 
initialization indefinitely.

Marking WIP as it needs more testing, but opening it in case anyone has 
comments about the approach.

[ Full content available at: 
https://github.com/apache/incubator-druid/pull/6383 ]
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