diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt
index 94687dd6b61c7..fe90be8c583c2 100644
--- a/perception/multi_object_tracker/CMakeLists.txt
+++ b/perception/multi_object_tracker/CMakeLists.txt
@@ -26,6 +26,7 @@ set(MULTI_OBJECT_TRACKER_SRC
   src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
   src/tracker/motion_model/motion_model_base.cpp
   src/tracker/motion_model/bicycle_motion_model.cpp
+  # cspell: ignore ctrv
   src/tracker/motion_model/ctrv_motion_model.cpp
   src/tracker/motion_model/cv_motion_model.cpp
   src/tracker/model/tracker_base.cpp
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
index c81f594ae461a..a56250390e34f 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
@@ -24,6 +24,8 @@
 
 #include <kalman_filter/kalman_filter.hpp>
 
+// cspell: ignore CTRV
+
 class PedestrianTracker : public Tracker
 {
 private:
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
index 560d165bba1b5..6b071eddec7a9 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
@@ -32,6 +32,8 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
+// cspell: ignore CTRV
+
 class CTRVMotionModel : public MotionModel
 {
 private:
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
index d992ea926746e..aea4c84d937e3 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
+++ b/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
@@ -28,6 +28,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+// cspell: ignore CTRV
 // Bicycle CTRV motion model
 // CTRV : Constant Turn Rate and constant Velocity