Clustertctl should validate kubernetes version is >= v1.16.0

[fabriziopandini]

What steps did you take and what happened:
xref kubernetes-sigs/cluster-api-provider-aws#1676

Clustertctl fails if the management cluster is <= v1.16.0

Followed the Quickstart in the docs line by line exactly and I got this error when running:
clusterctl init --infrastructure aws

Error: action failed after 10 attempts: failed to create clusterctl inventory CRDs component: apiextensions.k8s.io/v1, Kind=CustomResourceDefinition, /providers.clusterctl.cluster.x-k8s.io: n
o matches for kind "CustomResourceDefinition" in version "apiextensions.k8s.io/v1

What did you expect to happen:
Clustertctl should validate that the management cluster is >= v1.16.0 or provide a meaningful error message to the users

Anything else you would like to add:
As a first thought, this check can be implemented as a part of the "EnsureCustomResourceDefinitions", which is the first method called in most of the clusterctl commands and the first requiring v1.16.0 features

Environment:

Cluster-api-provider-aws version:

clusterctl version: &version.Info{Major:"0", Minor:"3", GitVersion:"v0.3.3", GitCommit:"ecff70af1b839c4086335234d88b1b8c00c3383c", GitTreeState:"clean", BuildDate:"2020-03-27T22:25:55Z", GoVe
rsion:"go1.13.8", Compiler:"gc", Platform:"darwin/amd64"}

Kubernetes version: (use kubectl version):

Client Version: version.Info{Major:"1", Minor:"16", GitVersion:"v1.16.4", GitCommit:"224be7bdce5a9dd0c2fd0d46b83865648e2fe0ba", GitTreeState:"clean", BuildDate:"2019-12-11T12:47:40Z", GoVersi
on:"go1.12.12", Compiler:"gc", Platform:"darwin/amd64"}
Server Version: version.Info{Major:"1", Minor:"15+", GitVersion:"v1.15.10-eks-bac369", GitCommit:"bac3690554985327ae4d13e42169e8b1c2f37226", GitTreeState:"clean", BuildDate:"2020-02-26T01:12:
54Z", GoVersion:"go1.12.12", Compiler:"gc", Platform:"linux/amd64"}

OS (e.g. from /etc/os-release):

MacOS Catalina 10.15.4

/kind bug
/area clusterctl

[vincepri]

/milestone v0.3.4
/help
/priority important-soon

[k8s-ci-robot]

@vincepri:
This request has been marked as needing help from a contributor.

Please ensure the request meets the requirements listed here.

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In response to this:

/milestone v0.3.4
/help
/priority important-soon

Instructions for interacting with me using PR comments are available here. If you have questions or suggestions related to my behavior, please file an issue against the kubernetes/test-infra repository.

[prksu]

i'll take this one
/assign

[fabriziopandini]

/lifecycle active