Add `cluster.lua` module from tarantool to luatest and adapt it

Add the `cluster.lua` module from the tarantool repo ([tarantool/test/cluster.lua](https://github.com/tarantool/tarantool/blob/58f5ffe43bffa0901d8d577bbb4d523c4e7e682a/test//config-luatest/cluster.lua)) to luatest and adapt it.