build: require gcc >= 5.3 and boost >= 1.58

This effectively drops support for all versions of Ubuntu older than 16.04

Change-Id: If1c96cc697d38a94588f126a89d13ec8e582702d
Refs: #4462
diff --git a/tests/check-typeid.hpp b/tests/check-typeid.hpp
index 58d9fb6..5e79289 100644
--- a/tests/check-typeid.hpp
+++ b/tests/check-typeid.hpp
@@ -1,6 +1,6 @@
 /* -*- Mode:C++; c-file-style:"gnu"; indent-tabs-mode:nil; -*- */
-/**
- * Copyright (c) 2014-2016,  Regents of the University of California,
+/*
+ * Copyright (c) 2014-2018,  Regents of the University of California,
  *                           Arizona Board of Regents,
  *                           Colorado State University,
  *                           University Pierre & Marie Curie, Sorbonne University,
@@ -31,17 +31,14 @@
 #define NFD_TESTS_CHECK_TYPEID_HPP
 
 #include "boost-test.hpp"
+
+#include <boost/core/demangle.hpp>
 #include <typeinfo>
 
 /** \def NFD_TYPEID_NAME(x)
  *  \return type name of typeid(x) as std::string
  */
-#if BOOST_VERSION >= 105600
-#include <boost/core/demangle.hpp>
 #define NFD_TYPEID_NAME(x) (::boost::core::demangle(typeid(x).name()))
-#else
-#define NFD_TYPEID_NAME(x) (::std::string(typeid(x).name()))
-#endif
 
 /** (implementation detail)
  */
diff --git a/tests/test-case.t.cpp.sample b/tests/test-case.t.cpp.sample
index bfff444..bfc8219 100644
--- a/tests/test-case.t.cpp.sample
+++ b/tests/test-case.t.cpp.sample
@@ -42,7 +42,7 @@
   int i = 0;
 
   // For reference of available Boost.Test macros, see
-  // http://www.boost.org/doc/libs/1_54_0/libs/test/doc/html/utf/testing-tools/reference.html
+  // https://www.boost.org/doc/libs/1_58_0/libs/test/doc/html/utf/testing-tools/reference.html
 
   BOOST_CHECK_EQUAL(i, 0);
   BOOST_CHECK_GT(++i, 0);