Modernize install (pyproject.toml) and updated dependencies, metadata, documentation, versioning

[gemenerik]

• Modernize install with pyproject.toml
• Update dependencies
• Update metadata
• Retrieve the version with setuptools_scm rather than custom script
  • Also possible in GH workflow; see (failed) test publish run.
  • Note that publishing should work as long as it is tagged correctly, as it is identical to Modernize Python Packaging: Transition to pyproject.toml and PyPI Trusted Publishing crazyflie-lib-python#491
• Add Python 3.13-specific install instructions (compile wheels, no Numpy 1 wheels available)

[ataffanel]

Great change! LGTM