Update to use yarn for the monorepo management

[shuse2]

Description

Update the setting to use yarn for monorepo structure management, and contribution README

Motivation

Lerna is good to manage versions and commands for the monorepo, but we faced several problems below

• package-lock are in multiple packages, and it often has conflict
• Cannot correctly use audit for the multiple packages
• bootstrapping becomes slower and sometime fails

Acceptance Criteria

• Yarn can be used for the monorepo management
• package-lock.json should be removed and replaced by yarn.lock

Additional Information

• Jenkins also needs to be updated