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/daemon/main.cpp b/daemon/main.cpp
index 0de725e..4cff13b 100644
--- a/daemon/main.cpp
+++ b/daemon/main.cpp
@@ -40,7 +40,7 @@
 #include <boost/program_options/parsers.hpp>
 #include <boost/program_options/variables_map.hpp>
 // boost::thread is used instead of std::thread to guarantee proper cleanup of thread local storage,
-// see http://www.boost.org/doc/libs/1_54_0/doc/html/thread/thread_local_storage.html
+// see https://www.boost.org/doc/libs/1_58_0/doc/html/thread/thread_local_storage.html
 #include <boost/thread.hpp>
 #include <boost/version.hpp>