Backport #312 and #316 to Citadel

[mabelzhang]

🦟 Bug fix

Backport #312 and #316 to Citadel

After this manual backport to Citadel, will it eventually be forward-ported with everything else to Edifice and Fortress, so we don't have to do those backports manually? (Confirmed in #316)

Summary

Fix ref links not linking, code snippets being blank boxes, image widths too wide, etc.

To test

See the problems in tutorials 5, 6, 7, and 8 before this PR:
https://ignitionrobotics.org/api/physics/2.5/tutorials.html

Make sure you git pull ign-cmake so you have gazebosim/gz-cmake#198

Recompile

colcon build --packages-select ignition-physics2 ignition-cmake2 --merge-install

Check the problems are fixed in the local Doxygen generated page:

file:///path/to/ign/build/ignition-physics2/doxygen/html/tutorials.html

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #318 (59598a5) into ign-physics2 (042e2c3) will not change coverage.
The diff coverage is n/a.

❗ Current head 59598a5 differs from pull request most recent head 70b336a. Consider uploading reports for the commit 70b336a to get more accurate results

@@              Coverage Diff              @@
##           ign-physics2     #318   +/-   ##
=============================================
  Coverage         82.84%   82.84%           
=============================================
  Files               108      108           
  Lines              4243     4243           
=============================================
  Hits               3515     3515           
  Misses              728      728           

Impacted Files	Coverage Δ
dartsim/include/ignition/physics/dartsim/World.hh	100.00% <ø> (ø)
dartsim/src/CustomFeatures.cc	100.00% <ø> (ø)

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