Add helpful error messages when importing optional dependencies (#125)

diff --git a/google/oauth2/oauthlib.py b/google/oauth2/oauthlib.py
index 8f5c105..e1c6089 100644
--- a/google/oauth2/oauthlib.py
+++ b/google/oauth2/oauthlib.py
@@ -27,7 +27,12 @@
 
 import json
 
-import requests_oauthlib
+try:
+    import requests_oauthlib
+except ImportError:  # pragma: NO COVER
+    raise ImportError(
+        'The requests-oauthlib library is not installed, please install the '
+        'requests-oauthlib package to use google.oauth2.oauthlib.')
 
 import google.oauth2.credentials