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Make LAL an optional dependency

Duncan Macleodrequested to merge
github/fork/duncanmmacleod/optional-lal into master

This PR modifies a number of modules and packaging bits to reduce LAL to an optional dependency. This is achieved via

  • install ligotimegps if lal is not available, and use it to provide gwpy.time.LIGOTimeGPS
  • try/except imports of glue.lal and lal where possible to not require lal for basic functionality

This also simplifies the CI configuration to not install anything from src during the MINIMAL=true build, and simplifies the install documentation page to tell people to install with pip.

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