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Move IAM bootstrap to its own file, improve error messages (#7424)
* Move IAM bootstrap to its own file, improve errors Also bootstrap roles/cloudbuild.builds.builder for cloudbuild service agent. * Re-add BootstrapConfig (accidentally deleted) * Fix wrong variable name * Bootstrap the role previously hardcoded for pubsub * Move error message back into bootstrap function This will dedup the code that calls this function. It now returns a boolean and sends the more useful error through t.Error. * Bootstrap the permissions for pubsub service agent * Bootstrap the role in the correct test * Fix formatting
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