Pyerfa

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- Ensure minimum numpy version of 1.17 continues to work (for astropy LTS).

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- Fix compatibility with numpy v1.24.
- Ensure documentation is correct also for functions without parameters.
- CI configuration updated.
- Switch building of wheels to GitHub Actions.
- Min ``setuptools_scm`` updated.
- Min numpy version in ``tox.ini`` updated to fix CI issues.

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- The underlying universal functions in ``erfa.ufunc`` now work with an ``out``
argument also if the required output is a structured array. [gh-76]

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- Bundled liberfa version update to v2.0.0. This includes new functionality,
and hence pyerfa 2.0.0 cannot run with previous versions of liberfa.
- ``erfa.dt_eraLDBODY`` has been corrected to ensure that the 'pv' entry is
now of type ``erfa.dt_pv``, so that cross-assignments with that dtype work
correctly. [gh-74]
- ``erfa_generator`` now also generates a ``test_ufunc.py`` file that
runs all the C code tests on the ufuncs, thus verifying the code
wrapping worked correctly. As part of that, the ability to give
specific output file names has been removed, as it was not used.
(Note: these changes have no effect on use of PyERFA.) [gh-71]

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- Bundled liberfa version update to v1.7.3.
- Fixed a bug that caused the output of ``rx``, ``ry``, and ``rz`` to be
boolean rather than float for some compilers/OS. [gh-72]

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- Bundled liberfa version update to v1.7.2.
- The classproperty decorator is now thread-safe
(backport https://github.com/astropy/astropy/pull/11224).