Use towncrier for Automated Changelog Generation, Add PR Template

.github/pull_request_template.md

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+<!--
+Thank you for contributing to python-can!
+Please fill out the following template to help us review your pull request.
+-->
+
+## Summary of Changes
+
+<!-- Briefly describe what your pull request does. -->
+
+- 
+
+## Related Issues / Pull Requests
+
+<!-- List any related issues, pull requests, or discussions. -->
+
+- Closes #
+- Related to #
+
+## Type of Change
+
+- [ ] Bug fix
+- [ ] New feature
+- [ ] Documentation update
+- [ ] Refactoring
+- [ ] Other (please describe):
+
+## Checklist
+
+- [ ] I have followed the [contribution guide](https://python-can.readthedocs.io/en/main/development.html).
+- [ ] I have added or updated tests as appropriate.
+- [ ] I have added or updated documentation as appropriate.
+- [ ] I have added a [news fragment](doc/changelog.d/) for towncrier.
+- [ ] All checks and tests pass (`tox`).
+
+## Additional Notes
+
+<!-- Add any other information or context you want to share. -->