Require cmake version 3.22.1

[scpeters]

🎉 New feature

Part of #350.

Summary

We already require 22.04 in Gazebo Garden, so we can require the version of cmake from that Ubuntu version (which is 3.22.1) in our main branch, which will be used in Gazebo Ionic.

Test it

Build on 22.04, macOS, or Windows with -DBUILDSYSTEM_TESTING=ON.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.