CI - Linux via ROS

cmake : sync submodule + fix MathJax relpath, remove DOXYGEN_USE_TEMPLATE_CSS, remove MATHJAX_FORMAT spec #1235

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Job	Run time
CI (noetic, catkin_tools)	29m 1s
CI (rolling)	28m 43s
CI (iron)	28m 58s
CI (humble)	28m 53s
	1h 55m 35s