doc/man: add typical `$` and `#` prompts to command lines

It is more instinctive for the typical reader to immediately recognize
command lines when they start with the classic prompts.

On the online version of the man pages, those prompts are treated
specially to make them non-selectable. This makes it possible to copy
multiple command lines at once (without copying the prompts) and to
paste them to your shell.

Signed-off-by: Philippe Proulx <eeppeliteloop@gmail.com>
Signed-off-by: Mathieu Desnoyers <mathieu.desnoyers@efficios.com>