[SPARK-3619] Upgrade to Mesos 0.21 to work around MESOS-1688

- update version from 0.18.1 to 0.21.0
- I'm doing some tests in order to verify some spark jobs work fine on mesos 0.21.0 environment.

Author: Jongyoul Lee <jongyoul@gmail.com>

Closes #3934 from jongyoul/SPARK-3619 and squashes the following commits:

ab994fa [Jongyoul Lee] [SPARK-3619] Upgrade to Mesos 0.21 to work around MESOS-1688 - update version from 0.18.1 to 0.21.0

pom.xml

@@ -115,7 +115,7 @@
     <java.version>1.6</java.version>
     <sbt.project.name>spark</sbt.project.name>
     <scala.macros.version>2.0.1</scala.macros.version>
-    <mesos.version>0.18.1</mesos.version>
+    <mesos.version>0.21.0</mesos.version>
     <mesos.classifier>shaded-protobuf</mesos.classifier>
     <slf4j.version>1.7.5</slf4j.version>
     <log4j.version>1.2.17</log4j.version>