[SPARK-2736] PySpark converter and example script for reading Avro files

This patch includes:
1. An Avro converter that converts Avro data types to Python. It handles all 3 Avro data mappings (Generic, Specific and Reflect).
2. An example Python script for reading Avro files using AvroKeyInputFormat and the converter.
3. Fixing a classloading issue.

cc @MLnick @JoshRosen @mateiz