tools,test: enforce assert.ifError with lint rule

This adds an ESLint rule to enforce the use of `assert.ifError(err)`
instead of `if (err) throw err;` in tests.

PR-URL: https://github.com/nodejs/node/pull/10671
Ref: https://github.com/nodejs/node/pull/10543


Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Gibson Fahnestock <gibfahn@gmail.com>
Reviewed-By: Michal Zasso <targos@protonmail.com>