docs: fix typos and work around auto-alignment

Author: stefanvogel

.cspell.json

@@ -1,7 +1,10 @@
 {
   "version": "0.2",
   "words": [
+    "Allman",
     "cppcheck",
+    "mrad",
+    "multirobot",
     "pacman",
     "teleop",
     "Ulzer",

README.md

@@ -109,7 +109,7 @@ PlatformIO project tasks --> <APP-NAME> --> Custom --> Launch
 
 #### Run without Webots launcher
 
-This can be choosen in case the simulation waits just for one robot.
+This can be chosen in case the simulation waits just for one robot.
 
 PlatformIO project tasks --> <APP-NAME> --> General --> Upload
 

doc/ROS2/setup/Webots.md

@@ -23,7 +23,7 @@ The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tu
 
 ### Running Webots ROS2 Universal Robot (on Windows)
 
-See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
+See Task 2 from this [Jazzy documentation page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
 
 Replace ```<DRIVE>/<WEBOTS-INSTALLATION_DIRECTORY>``` in the following terminal commands:
 

lib/APPTurtle/src/App.cpp

@@ -293,10 +293,12 @@ void App::handleTurtle()
     /* Check for new data. */
     if (true == m_isNewTurtleSpeedSetpoint)
     {
+        // clang-format off
         RobotSpeed    payload;
         const int32_t MILLI_CONVERSION_FACTOR = 1000;
-        int32_t       linearSpeed = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR; /* Linear speed in mm/s */
-        int32_t angularSpeed = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; /* Angular speed in mrad/s */
+        int32_t       linearSpeed             = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR;  // Linear speed in mm/s
+        int32_t       angularSpeed            = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; // Angular speed in mrad/s
+        // clang-format off
 
         payload.linearCenter = linearSpeed;
         payload.angular      = angularSpeed;