Release v0.16.0

What's Changed

• zmq4: add UnknownTransportError by @sbinet in #125
• Clarify docs a bit about how Listen() and Dial() translate to bind() and connect() by @bartekpacia in #135
• Improve the CI github action by @bartekpacia in #137
• ci: bump staticcheck-ci@v2023.1 by @sbinet in #141
• Deal with empty Identity for ROUTER socket by @superfashi in #140
• ci: update actions/setup-go@v4, codecov/codecov-action@v3 by @sbinet in #142
• Fix rep cancellation by @encse in #143
• all: drop Go-1.19, add Go-1.21 by @sbinet in #144

New Contributors

• @bartekpacia made their first contribution in #135
• @superfashi made their first contribution in #140
• @encse made their first contribution in #143

Full Changelog: v0.15.0...v0.16.0