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va: fix library build issues

Víctor Manuel Jáquez Leal requested to merge vjaquez/gstreamer:va-fix-library-build into main 
va: Remove libgudev crumbs in library.

In commit e699aaeb we moved linking of libgudev to the plugin rather
the library, because it's only used in the plugin. But the dependency
check is still done in library.

This patch removes the dependency check in library, and updates the
dependency check in plugin.
va: Use api_version variable rather than static string.
va: Remove pkgconfig generation.

Since the library is not currently installed, it's only used
internally, doesn't make sense to generate its pkgconfig file.

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