tests: sync common testing infrastructure with ndn-cxx

Upgrade waf to version 2.0.21

Change-Id: I30615cc49416088e9c5e4d602fd11360c0ed9328
diff --git a/.jenkins.d/00-deps.sh b/.jenkins.d/00-deps.sh
index d4d9c33..cd3eb76 100755
--- a/.jenkins.d/00-deps.sh
+++ b/.jenkins.d/00-deps.sh
@@ -25,7 +25,7 @@
 
 elif has Ubuntu $NODE_LABELS; then
     sudo apt-get -qq update
-    sudo apt-get -qy install g++ pkg-config python3-minimal \
+    sudo apt-get -qy install build-essential pkg-config python3-minimal \
                              libboost-all-dev libssl-dev libsqlite3-dev
 
     if [[ $JOB_NAME == *"code-coverage" ]]; then