contrib: yaml-cpp minimal version to be 0.5.3

Add a version check for yaml-cpp in contrib to use 0.5.3 at minimal
version. Some distributions uses an old and buggy version.

Change-Id: I7a9356f403f035853dc89a74232d9f830d791bbb
Reviewed-by: Philippe Gorley <philippe.gorley@savoirfairelinux.com>