ci: check doxygen on noble

[scpeters]

🦟 Bug fix

Part of gazebo-tooling/release-tools#1222

Summary

Other packages have doxygen checking enabled, so try it here too.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• 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.

[iche033]

I made some fixes for main in #1129. There are still warnings about .so sym links in the build dir that I haven't figured out how to fix yet.

[scpeters]

total duplicate of #1129

lol, apologies @iche033 I didn't check before opening this, at least we came to the same conclusion