test: add message verification on assert.throws

Add regular expression for error message validation to instances of
assert.throws() in test-assert.js.

PR-URL: https://github.com/nodejs/node/pull/10890


Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>