Upgrade to Node.js 16

[LexLuengas]

Migration to Node.js v16

Context

Version 16 is the current LTS version as of now (https://nodejs.org/en/about/releases/).

Currently

• CI tests run on Node.js v10 and v12.
• Dockerfile uses "node:17" image 😢.
• The test/docker/run-docker-test.bash script runs using the "node:10.15.3" Docker image.
• package.json file does not declare any node versions in "engines" section.
• The .nvmrc file has v10.24.1.
• GitHub action "npm-publish" uses v10 during step "actions/setup-node" but the step is probably unnecessary since it does not run anything.

Tasks

• Consolidate node versions used across code base. Consider to have a single source for the version. A dev setup script might be needed.
• Update local configuration.
• Update build environment of GitHub actions.
• Upgrade dependencies one-by-one.
• Consider to remove dependencies that can be replaced by a Node.js API.\
• Remove "actions/setup-node" step from "npm-publish" action. Consider to upgrade to the latest "pascalgn/npm-publish-action" for the publish step.

Out of scope

Linked issues

• test fails #352