Directly link against libudev on Linux systems

We previously dlopen()ed it, but it seems painful to do that
without any real gain, except for possibly not having libudev
in the address space and not having code #ifdefed for Linux.

The latter means that we are a bit more likely to break stuff
for non-Linux systems now if we play with udev, but at least
we don't end up with it silently breaking because of a libudev
ABI break.

The existing function pointers in the struct were renamed and
kept for compat purposes.

Fixes Debian/apt#48

Also adjust prepare-release to strip [linux-any] from build-depends
for travis.

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