test: install compatible kfp-server-api and kfp packages

[chensun]

Description of your changes:
kfp (sdk) from HEAD and kfp-server-api from HEAD may not always be compatible. This could happen anytime API changes, and SDK may not integrate with API changes at the same time.

Checklist:

• The title for your pull request (PR) should follow our title convention. Learn more about the pull request title convention used in this repository.

[gkcalat]

Should we keep the kfp-server-api as >= in SDK requirements to install kfp from master?

[google-oss-prow]

@chensun: The following tests failed, say /retest to rerun all failed tests or /retest-required to rerun all mandatory failed tests:

Test name	Commit	Details	Required	Rerun command
kubeflow-pipelines-sdk-yapf	2511cea	link	true	/test kubeflow-pipelines-sdk-yapf
kubeflow-pipelines-sdk-execution-tests	2511cea	link	true	/test kubeflow-pipelines-sdk-execution-tests

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[gkcalat]

/lgtm
/approve

Thanks!

[google-oss-prow]

[APPROVALNOTIFIER] This PR is APPROVED

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