Make doxygen a weak dependency #775

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Run time

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Job	Run time
ros (humble)	1m 37s
ros (rolling)	1m 47s
cmake (humble, debug, gcc)	2m 18s
cmake (humble, debug, clang)	2m 24s
cmake (humble, release, gcc)	2m 41s
cmake (humble, release, clang)	3m 6s
cmake (humble, asan, gcc)	2m 18s
cmake (humble, asan, clang)	3m 0s
cmake (humble, codecov, gcc)	2m 40s
cmake (rolling, debug, gcc)	2m 21s
cmake (rolling, debug, clang)	2m 51s
cmake (rolling, release, gcc)	2m 41s
cmake (rolling, release, clang)	3m 35s
cmake (rolling, asan, gcc)	2m 55s
cmake (rolling, asan, clang)	2m 55s
cmake (rolling, codecov, gcc)	3m 11s
	42m 20s