Add ENABLE_CLANG_TIDY option to CMake and update CI

Author: bjsowa

.github/workflows/ci.yml

@@ -15,15 +15,21 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, kilted, rolling]
+        ROS_DISTRO: [humble, jazzy, kilted]
         ROS_REPO: [testing, main]
+        include:
+          - ROS_DISTRO: rolling
+            ROS_REPO: testing
+            CMAKE_ARGS: "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DENABLE_CLANG_TIDY=ON"
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+            CMAKE_ARGS: "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DENABLE_CLANG_TIDY=ON"
     env:
       ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
       ROS_REPO: ${{ matrix.ROS_REPO }}
+      CMAKE_ARGS: ${{ matrix.CMAKE_ARGS }}
     steps:
       - name: Checkout repo
         uses: actions/checkout@v4
       - name: Source tests
         uses: "ros-industrial/industrial_ci@master"
-        env:
-          CMAKE_ARGS: "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"

CMakeLists.txt

@@ -165,18 +165,17 @@ if(BUILD_TESTING)
     )
   endif()
 
-  # Skip ament_clang_tidy check for all distros except rolling
-  # to avoid issues with multiple versions of clang being used
-  if(NOT $ENV{ROS_DISTRO} STREQUAL "rolling")
+  option(ENABLE_CLANG_TIDY "Enable ament_clang_tidy test" OFF)
+  if(ENABLE_CLANG_TIDY)
+    include(ProcessorCount)
+    processorcount(N)
+    set(ament_cmake_clang_tidy_JOBS ${N})
+  else()
     list(APPEND AMENT_LINT_AUTO_EXCLUDE
       ament_cmake_clang_tidy
     )
   endif()
 
-  include(ProcessorCount)
-  processorcount(N)
-  set(ament_cmake_clang_tidy_JOBS ${N})
-
   ament_lint_auto_find_test_dependencies()
 endif()
 

package.xml

@@ -36,7 +36,7 @@
   <exec_depend>rclcpp_components</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend condition="$ROS_DISTRO == rolling">ament_cmake_clang_tidy</test_depend>
+  <test_depend>ament_cmake_clang_tidy</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>ament_cmake_xmllint</test_depend>