groups: Extend RemoveDevice with group id

If a group_id provided to this function is kGroupUnknown, then groups
will remove device from all the groups. Otherwise device will be removed
only for a single group.

Bug: 150670922
Tag: #feature
Test: atest --host bluetooth_test_groups
Sponsor: jpawlowski@

Change-Id: I97317d232bc7c3036701d2cb060fe8dc7fd65b16