build: pkg anti-pattern: use defaults

Use the defaults in the pkg check where the default error message is
sufficient to identify which package is missing.

Change-Id: Id4ae96c559212f60721bd9a3af6fd3d7742e61ee
Signed-off-by: Patrick Venture <venture@google.com>
diff --git a/configure.ac b/configure.ac
index 79dbef8..f2d8766 100755
--- a/configure.ac
+++ b/configure.ac
@@ -13,12 +13,9 @@
 AC_PROG_MAKE_SET
 
 # Check for libraries
-PKG_CHECK_MODULES([PHOSPHOR_DBUS_INTERFACES], [phosphor-dbus-interfaces],,\
-    AC_MSG_ERROR(["Requires phosphor-dbus-interfaces package."]))
-PKG_CHECK_MODULES([SDBUSPLUS], [sdbusplus],,
-    AC_MSG_ERROR(["Requires sdbusplus package."]))
-PKG_CHECK_MODULES([PHOSPHOR_LOGGING], [phosphor-logging],,
-    [AC_MSG_ERROR([The openbmc/phosphor-logging package is required])])
+PKG_CHECK_MODULES([PHOSPHOR_DBUS_INTERFACES], [phosphor-dbus-interfaces])
+PKG_CHECK_MODULES([SDBUSPLUS], [sdbusplus])
+PKG_CHECK_MODULES([PHOSPHOR_LOGGING], [phosphor-logging])
 
 AC_PATH_PROG([SDBUSPLUSPLUS], [sdbus++])