With the robot in the bag, it's difficult...
Open the driver station and verify that the DS version (second tab) is 08021500 or later (DDMMYY00 format).
When you do have access to the robot (district access period or Practice day at an event), tether to the robot and check the other versions on tab 2 of the driver station. Everything except the roborio firmware (2.1.0f3, if memory serves) can be found there. Visit the roborio webpage (
http://roborio-XXXX.local, where XXXX is your team number), click on the roborio, and verify the firmware version as well.
From the webpage, you can also verify/update any components that are wrong or say mismatch on the driver station (indicating that you have multiple of that conponent and they are not at the same version).
Please note that the version will only be reported for items on the CAN bus, so get everything needed (like the PDP!) on CAN!
You can find all of the minimum versions required on the inspection checklist on the FIRST website.