[SPARK-22874][PYSPARK][SQL][FOLLOW-UP] Modify error messages to show actual versions.

## What changes were proposed in this pull request?

This is a follow-up pr of #20054 modifying error messages for both pandas and pyarrow to show actual versions.

## How was this patch tested?

Existing tests.

Author: Takuya UESHIN <[email protected]>

Closes #20074 from ueshin/issues/SPARK-22874_fup1.

Author: ueshin

python/pyspark/sql/utils.py

@@ -118,7 +118,8 @@ def require_minimum_pandas_version():
     from distutils.version import LooseVersion
     import pandas
     if LooseVersion(pandas.__version__) < LooseVersion('0.19.2'):
-        raise ImportError("Pandas >= 0.19.2 must be installed on calling Python process")
+        raise ImportError("Pandas >= 0.19.2 must be installed on calling Python process; "
+                          "however, your version was %s." % pandas.__version__)
 
 
 def require_minimum_pyarrow_version():
@@ -127,4 +128,5 @@ def require_minimum_pyarrow_version():
     from distutils.version import LooseVersion
     import pyarrow
     if LooseVersion(pyarrow.__version__) < LooseVersion('0.8.0'):
-        raise ImportError("pyarrow >= 0.8.0 must be installed on calling Python process")
+        raise ImportError("pyarrow >= 0.8.0 must be installed on calling Python process; "
+                          "however, your version was %s." % pyarrow.__version__)