Update dds_yaml links to the markdown doc

docs/en/middleware/uxrce_dds.md

@@ -38,7 +38,7 @@ The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is gen
 The agent has no dependency on client code.
 It can be built standalone or in a ROS 2 workspace, or installed as a snap package on Ubuntu.
 
-When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).
+When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).
 
 PX4 main or release builds automatically export the set of uORB messages definitions in the build to an associated branch in [PX4/px4_msgs](https://github.com/PX4/px4_msgs).
 
@@ -320,13 +320,11 @@ ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_
 
 ## Supported uORB Messages
 
-The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](../middleware/dds_topics.md).
 
 The topics are release specific (support is compiled into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) at build time).
 While most releases should support a very similar set of messages, to be certain you would need to check the yaml file for your particular release.
 
-<!-- Jublish the set we use?: https://github.com/PX4/px4_msgs/issues/22 -->
-
 Note that ROS 2/DDS needs to have the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware in order to interpret the messages.
 The message definitions are stored in the ROS 2 interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs), and they are automatically synchronized by CI on the `main` and release branches.
 Note that all the messages from PX4 source code are present in the repository, but only those listed in `dds_topics.yaml` will be available as ROS 2 topics.
@@ -343,20 +341,20 @@ Therefore,
   ```
 
   ::: info
-  Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  Technically, [dds_topics.yaml](../middleware/dds_topics.md) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
   For more information see [DDS Topics YAML](#dds-topics-yaml) below.
   :::
 
 ## Customizing the Namespace
 
-Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) or at runtime (which is useful for multi vehicle operations):
+Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
 
 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
   This technique can be used both in simulation and real vehicles.
 - A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.
 
 ::: info
-Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#dds-ros-2-services).
+Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#dds-ros-2-services).
 Therefore, commands like:
 
 ```sh
@@ -413,7 +411,7 @@ Deadline, lifespan, and lease durations are also all set to "default".
 
 ## DDS Topics YAML
 
-The PX4 yaml file [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) defines the set of PX4 uORB topics that are built into firmware and published.
+The PX4 [dds_topics.yaml](../middleware/dds_topics.md) file defines the set of PX4 uORB topics that are built into firmware and published.
 More precisely, it completely defines the relationship/pairing between PX4 uORB and ROS 2 messages.
 
 The file is structured as follows:
@@ -542,7 +540,7 @@ Take a look at the [client startup section](#starting-the-client) to learn how t
 
 #### New file for setting which topics are published
 
-The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topic.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)
+The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topics.yaml](../middleware/dds_topics.md) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)
 
 See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information.