[docs] sphinx 1.4->5.3

.devcontainer/Dockerfile

@@ -22,6 +22,8 @@ ARG NAME=ros-${ROS_DISTRO}
 # devcontainer configuration (esp. for qt, X11).
 #
 RUN apt-get update && apt-get install -y --no-install-recommends
+    # Docs
+    python3-venv
     # Dot
     # python3-pydot \
     # Qt

.readthedocs.yaml

@@ -1,24 +1,28 @@
+# .readthedocs.yaml
 # Read the Docs configuration file
 # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
 
 # Required
 version: 2
 
+# Set the version of Python and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.10"
+  apt_packages:
+    - graphviz
+
 # Build documentation in the docs/ directory with Sphinx
 sphinx:
-  configuration: doc/conf.py
+  configuration: docs/sources/conf.py
   fail_on_warning: true
 
-# Build your docs in additional formats such as PDF and ePub
-# [], all, or - epub, - pdf
-formats: []
+# If using Sphinx, optionally build your docs in additional formats such as PDF
+# formats:
+#    - pdf
 
+# Optionally declare the Python requirements required to build your docs
 python:
-   version: 3.6
-   install:
-      - requirements: doc/requirements.txt
-      # Unfortunately can only do this from pip
-      # - method: setuptools
-      #   path: .
-      #   extra_requirements:
-      #       - docs
+  install:
+    - requirements: docs/requirements.txt