penumbra: bump tendermint-rs and ibc-types (#5155)

## Describe your changes

This bumps `tendermint-rs@0.40.3` and `ibc-types@0.15.1`

## Issue ticket number and link

#5150 

## Checklist before requesting a review

- [x] I have added guiding text to explain how a reviewer should test
these changes.

- [x] If this code contains consensus-breaking changes, I have added the
"consensus-breaking" label. Otherwise, I declare my belief that there
are not consensus-breaking changes, for the following reason:

  > consensus breaking.

Author: Erwan Or