Replace bare link with markdown-style link to appease downstream Hugo/Vale linting (#687)

Author: nathan-contino

proto/viam/robot/v1/robot.proto

@@ -177,8 +177,8 @@ message TransformPoseResponse {
 }
 
 message TransformPCDRequest {
-  // the point clouds to transform. This should be in the PCD format
-  // encoded into bytes: https://pointclouds.org/documentation/tutorials/pcd_file_format.html
+  // the point clouds to transform. This should be in the PCD format,
+  // [encoded into bytes](https://pointclouds.org/documentation/tutorials/pcd_file_format.html).
   bytes point_cloud_pcd = 1;
   // the reference frame of the point cloud.
   string source = 2;

proto/viam/service/slam/v1/slam.proto

@@ -79,8 +79,8 @@ message GetPointCloudMapResponse {
   // format where XY is the ground plane and positive Z is up, following
   // the Right Hand Rule.
   //
-  // Read more about the pointcloud format here:
-  // https://pointclouds.org/documentation/tutorials/pcd_file_format.html
+  // Read more about the pointcloud format
+  // [in the docs](https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
   //
   // Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for
   // this to be specified in the pointcloud header in the FIELDS entry. If color