Docs: Use branch name substitution for all links (backport #1031)

[mergify]

This is an automatic backport of pull request #1031 done by Mergify.
Cherry-pick of 590de4e has failed:

On branch mergify/bp/humble/pr-1031
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 590de4e.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   controller_manager/doc/userdoc.rst

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/index.rst
	both modified:   hardware_interface/doc/hardware_components_userdoc.rst
	both modified:   hardware_interface/doc/mock_components_userdoc.rst
	both modified:   hardware_interface/doc/writing_new_hardware_interface.rst
	both modified:   ros2controlcli/doc/userdoc.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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