ci: update the ci config

[iChenLei]

What:

Change the github actions ci config

Why:

Current Node.js LTS version is v18, and v19 has been released.

How:

Change the Node.js version in the matrix tests from v16 to the latest LTS version, v18, and add tests for Node.js v19.

Checklist:

• [ ] Documentation
• [ ] Added/updated unit tests
• [x] Code complete