Update GitHub workflows for Autoware Core

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Update the workflow files in autoware.core repository to match to sync with autoware.universe

Purpose

Make sure that Autoware Core's CI has same baseline with Autoware Universe before making improvements.

Possible approaches

Refer to workflows for Autoware Universe and update workflows in Autoware Core.
I will first focus on the ones that are running daily and the ones that are set as required CI before merge.

Definition of done

• list up files that needs to be updated
  • build-and-test-differential ci: update build-and-test-differential workflow #93
  • build-and-test ci: update build-and-test workflows #95
  • pre-commit-optional
  • json-schema-check
  • cpp-check-differential ci: add cppcheck workflow #97
  • spell-check-differential ci: add spell-check workflow #96
• update build_depends.repos to remove autoware_auto_msgs and replace it with autoware_msgs: feat(build_depends.repos): replace autoware_auto_msgs with autoware_msgs #94
• update README for workflows
• (optional) update sync-file workflow