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/usr/lib/x86_64-linux-gnu/pkgconfig/osmesa.pc is in libosmesa6-dev 18.0.0~rc5-1ubuntu1.

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prefix=/usr
exec_prefix=${prefix}
libdir=${prefix}/lib/x86_64-linux-gnu
includedir=${prefix}/include

Name: osmesa
Description: Mesa Off-screen Rendering library
Requires: 
Version: 8
Libs: -L${libdir} -lOSMesa
Libs.private: -lm -lpthread -pthread  -ldl
Cflags: -I${includedir}