update ginkgo from v1 to v2 and gomega to 1.19.0

- update all the import statements
- run hack/pin-dependency.sh to change pinned dependency versions
- run hack/update-vendor.sh to update go.mod files and the vendor directory
- update the method signatures for custom reporters

Signed-off-by: Dave Chen <dave.chen@arm.com>

test/e2e_node/framework.go

@@ -16,7 +16,7 @@ limitations under the License.
 
 package e2enode
 
-import "github.com/onsi/ginkgo"
+import "github.com/onsi/ginkgo/v2"
 
 // SIGDescribe annotates the test with the SIG label.
 func SIGDescribe(text string, body func()) bool {