Specify minimum dependency versions on Linux

[jslee02]

This PR just makes it possible to specify minimum required dependency versions on Linux (since Windows does not support pkgconfig file), and remains determining the specific required dependency versions as future work. In order to do this, this pr:

• Updates cmake find modules to be aware of installed version
• Prints dependency version in the cmake output

Note that upper case module names will be used until migrate to cmake version that supports FOUND_VAR option for find_package_handle_standard_args.

This PR also passes DART version through DARTConfig.cmake and DARTCoreConfig.cmake so that it is able to print DART version in cmake process like:

  # Find DART
  find_package(DARTCore 4.1 QUIET)
  if (DARTCore_FOUND)
    message (STATUS "Looking for DARTCore - ${DART_VERSION} found")
  endif()