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Build docs with Sphinx 3

Zbigniew Reszela requested to merge github/fork/reszelaz/fix_sphinx_warn into develop

The documentation builds started to fail due to PyTango intersphinx mapping problems. These appeared to be solved with the latests Sphinx. I made some effort to fix warnings after the Sphinx upgrade.

I take a profit of this PR to set default role in docs to obj. This way one could create cross-references (even intersphinx) with just back-quotes e.g.`taurus.Device` instead of :obj:`taurus.Device`

This is a house-keeping PR, so I won't bother you with the reviews and whenever it gets green in Travis I will auto-merge.

Initially it will fail - still waiting for a new version of docker image with the Sphinx v3. But I will retrigger later..

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