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Speed up import by replacing pkg_resources with importlib.resources

Leo P. Singer requested to merge leo-singer/ligo.skymap:importlib-resources into master

Speed up import ligo.skymap by up to a second by replacing uses of pkg_resources with the new Python standard library module importlib.resources (or, for Python < 3.7, the backport importlib_resources). The old pkg_resources module is known to be slow because it does a lot of work on startup.

See, for example, pypa/setuptools#926 and pypa/setuptools#510.

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