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Docs are now in user guide and main (#19977)
* Fix links to docs in source to point to docs on main not master * More docs and scripts that need to point to main
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For see a complete documentation, please follow this [link](https://dev.px4.io/master/en/middleware/micrortps.html)
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For see a complete documentation, please follow this [link](https://docs.px4.io/main/en/middleware/micrortps.html)
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