ci: add clang-tidy step to build-and-test

.github/merge_compile_commands.py

@@ -0,0 +1,17 @@
+import json
+import os
+
+
+def merge_compile_commands(output_file):
+    """Merge all compile_commands.json files into one."""
+    compile_commands = []
+    for root, dirs, files in os.walk("."):
+        if "compile_commands.json" in files:
+            with open(os.path.join(root, "compile_commands.json"), "r") as f:
+                compile_commands.extend(json.load(f))
+    with open(output_file, "w") as f:
+        json.dump(compile_commands, f, indent=2)
+
+
+if __name__ == "__main__":
+    merge_compile_commands("compile_commands.json")

.github/workflows/build-and-test.yaml

@@ -38,7 +38,7 @@ jobs:
         id: build_test
         run: |
           . /opt/ros/${{ matrix.rosdistro }}/setup.sh &&
-          colcon build
+          colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
         continue-on-error: true
 
       - name: build_test command success
@@ -64,3 +64,15 @@ jobs:
       - name: run_test command failure
         if: steps.run_test.outcome == 'failure'
         run: echo "result - failure" && exit 1
+
+      - name: Install clang-tidy
+        run: apt-get install clang-tidy -y
+
+      - name: Merge compile_commands.json
+        run: |
+          python3 .github/merge_compile_commands.py
+
+      - name: Run clang-tidy
+        run: |
+          clang-tidy -p compile_commands.json find src/ -name "*.cpp"
+        continue-on-error: true

.pre-commit-config.yaml

@@ -20,8 +20,8 @@
   - repo: https://github.com/igorshubovych/markdownlint-cli
     rev: v0.41.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/tcort/markdown-link-check
     rev: v3.12.2
@@ -43,7 +43,8 @@
     rev: v0.10.0
     hooks:
       - id: flake8-ros
+        exclude: ^\.github/merge_compile_commands\.py$
       - id: prettier-xacro
       - id: prettier-launch-xml
       - id: prettier-package-xml
       - id: ros-include-guard
@@ -52,18 +53,18 @@
   - repo: https://github.com/shellcheck-py/shellcheck-py
     rev: v0.10.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
     rev: v3.8.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
     rev: 5.13.2
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
     rev: 24.4.2
@@ -75,19 +76,19 @@
     rev: v18.1.8
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:
       - id: cpplint
         args: [--quiet]
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
     rev: 0.29.0
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$
 
   - repo: local