Minimum CMake versions should be updated

[scastro-bdai]

I'm trying to build libfranka from source and running into issues with minimum CMake versions required.

Specifically in these 2 places:

• libfranka/cmake/GoogleTest-CMakeLists.txt.in

  Line 1 in d171cc9

  cmake_minimum_required(VERSION 3.0)

• https://github.com/frankarobotics/libfranka-common/blob/cd38d0ec300b7e6864407d85d1e88e2fba31ccd5/CMakeLists.txt#L1

For reference, the CMake version standard in Ubuntu 22.04 is 3.22, Ubuntu 20.04 being 3.16.

Right now on 22.04, we get deprecation warnings in < 3.8 and errors in < 3.5, so it causes this to fail.

Would recommend updating this to at least minimum CMake versions of 3.16.