[sr-dev] [kamailio/kamailio] support pkg-config when detecting libxml2 (#2199)

[sergey-safarov]

Oldest `RHEL-6`  based dist (CentOS-6, Oracle Linux 6) is have `pkgconfig-0.23-9` and `libxml2-2.7.6`
```
[root at 8760520b12b8 /]# cat /usr/lib64/pkgconfig/libxml-2.0.pc 
prefix=/usr
exec_prefix=/usr
libdir=/usr/lib64
includedir=/usr/include
modules=1

Name: libXML
Version: 2.7.6
Description: libXML library version2.
Requires:
Libs: -L${libdir} -lxml2
Libs.private:  -lz  -lm 
Cflags: -I${includedir}/libxml2 
```

For oldest OpenSUSE `pkg-config-0.28-11` and `libxml2-devel-2.9.4`
```
52640dd1687d:/ # cat /usr/lib64/pkgconfig/libxml-2.0.pc 
prefix=/usr
exec_prefix=/usr
libdir=/usr/lib64
includedir=/usr/include
modules=1

Name: libXML
Version: 2.9.4
Description: libXML library version2.
Requires:
Libs: -L${libdir} -lxml2
Libs.private:   -L/lib64 -lz  -llzma   -lm  
Cflags: -I${includedir}/libxml2 
```

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