selftests/bpf: Add cgroup helper remove_cgroup()

Add remove_cgroup() to remove a cgroup which doesn't have any children
or live processes. It will be used by the following patch to test cgroup
iterator on a dead cgroup.

Signed-off-by: Hou Tao <houtao1@huawei.com>
Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>
Acked-by: Yonghong Song <yhs@fb.com>
Link: https://lore.kernel.org/bpf/20221121073440.1828292-3-houtao@huaweicloud.com