Updte broken links

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

.github/workflows/broken_links.yml

@@ -19,7 +19,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Run link check
         uses: gaurav-nelson/github-action-markdown-link-check@v1
         with:

doc/code-examples/apriltags.md

@@ -66,7 +66,7 @@ you can find an example of a configuration file. We can find there the following
     ID:11-20 = 0.17   #tag size in meters                       //Tags numbers 11-20 real size in meters
     ID:21-30 = 0.17   #tag size in meters                       //Tags numbers 21-30 real size in meters
 
-AprilTagsFamily is a set of tags, There are different families like 36h10,25h9,16h5 however *tagCodes36h11* is recommended. Each tag has an ID that is printed inside the surrounding square using Hamming code. Instructions to print tags and other tag families can be found [here](http://april.eecs.umich.edu/wiki/index.php/AprilTags). The algorithm needs the real size of the tag to estimate its position and orientation in space. We can give the component tags of different sizes, As long as they correspond to different ranges of IDs, as specified in the configuration file above.
+AprilTagsFamily is a set of tags, There are different families like 36h10,25h9,16h5 however *tagCodes36h11* is recommended. Each tag has an ID that is printed inside the surrounding square using Hamming code. The algorithm needs the real size of the tag to estimate its position and orientation in space. We can give the component tags of different sizes, As long as they correspond to different ranges of IDs, as specified in the configuration file above.
 
 ## Starting the component
 To start the component we need a real camera connected to the cameraV4lComp component or the RCIS simulator started with a file that includes virtual tags, such as *simpleworld.xml*, Tutorial can be found [here](apritagstutorial.md). Once RCIS is up and running, It will provide the RGBD.idsl interface (not Camera.idsl for now) at port 10096, which is what the configuration file states. To avoid changing the *generic_config* file in the repository, We can copy it to the component's home directory, So changes will remain untouched by future git pulls: