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DOC: Fix the name of the prerequsite package required to build iMSTK in Unix

Andinet enquobahrie requested to merge fix-prerequesite-package-name into master

One of the prerequisite package in Unix is the meta-package that includes the GNU compiler collection, GNU debugger, and other development libraries and tools required for compiling iMSTK.

The correct name for this package is "build-essential" not "build-essentials"

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