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Use private fields in pkgconfig files to prevent overlinking in downstream libraries

This patch does a few related things:

  • use Requires.private and Libs.private in pkgconfig files to prevent overlinking in downstream libraries
  • added pkgconfig as a BuildRequires for RPMs
  • bumped required version of pkg-config to 0.18.0 everywhere I could think of

This is mainly to prevent overlinking of lalsuite package requirements into downstream libraries that link against lal using pkg-config (e.g. bayeswave).

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