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Update in-tree docs to point to the new book (#32743)

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* Update in-tree docs to point to the new book

* Revive build setup section in README as quickstart guide

* Apply feedback about titles
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# Servo debugging guide
There are a few ways to debug Servo. `mach` supports a `--debug` flag that
searches a suitable debugger for you and runs Servo with the appropriate
arguments under it:
Moved to the Servo book:
```
./mach run --debug test.html
```
You can also specify an alternative debugger using the `--debugger` flag:
```
./mach run --debugger=my-debugger test.html
```
You can also, of course, run directly your debugger on the Servo binary:
```
$ gdb --args ./target/debug/servo test.html
```
## Debugging SpiderMonkey.
You can build Servo with a debug version of SpiderMonkey passing the
`--debug-mozjs` flag to `./mach build`.
Note that this sometimes can cause problems when an existing build exists, so
you might have to delete the `mozjs` build directory, or run `./mach clean`
before your first `--debug-mozjs` build.
## Debugging Servo with [rr][rr].
To record a trace under rr you can either use:
```
$ ./mach run --debugger=rr testcase.html
```
Or:
```
$ rr record ./target/debug/servo testcase.html
```
### Running WPT tests under rr's chaos mode.
Matt added a mode to Servo's testing commands to record traces of Servo running
a test or set of tests until the result is unexpected.
To use this, you can pass the `--chaos` argument to `mach test-wpt`:
```
$ ./mach test-wpt --chaos path/to/test
```
Note that for this to work you need to have `rr` in your `PATH`.
Also, note that this might generate a lot of traces, so you might want to delete
them when you're done. They're under `$HOME/.local/share/rr`.
[rr]: http://rr-project.org/
- Hacking on Servo
- [Debugging](https://book.servo.org/hacking/debugging.html)