ci: add an action to update versions and changelogs

[Keith-CY]

This PR adds an action to update versions and changelogs

The action is triggered by branch name pattern rc/v*, e.g. rc/v0.1.0, and

1. bump versions by the version number matched in branch name pattern;
2. generate changelogs by lerna;
3. open a PR to the rc/v* branch for reviewing the changelog

Notice that

secrets.GPG_PRIVATE_KEY
secrets.GPG_PASSPHRASE

are required in the action to sign commits

[codecov-commenter]

Codecov Report

Merging #380 (7d07e75) into develop (bc71654) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff            @@
##           develop     #380   +/-   ##
========================================
  Coverage    62.39%   62.39%           
========================================
  Files           94       94           
  Lines         3101     3101           
  Branches       688      688           
========================================
  Hits          1935     1935           
  Misses        1057     1057           
  Partials       109      109           

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