Merge: pkgconfig annotation: improve error on missing dev package

This is an attempt to improve the error message on a missing development package. The current error stumps everyone on the first occurrence. The new version puts an emphasis on three things:
- it needs the _dev_ package,
- a possible solution by mentioning apt-get and brew,  and
- that it may be a problem with pkg-config itself.

I chose to mention apt-get and brew as I consider that they are the best known package manager on Linux and macOS..

Pull-Request: #2325
Reviewed-by: Lucas Bajolet <r4pass@hotmail.com>
Reviewed-by: Jean-Christophe Beaupré <jcbrinfo.public@gmail.com>