Enable clang-format and clang-tidy

.clang-format

@@ -0,0 +1,12 @@
+BasedOnStyle: Mozilla
+InsertNewlineAtEOF: true
+UseTab: Always
+IndentWidth: 4
+TabWidth: 4
+ColumnLimit: 120
+BreakConstructorInitializers: AfterColon
+PackConstructorInitializers: Never
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AllowShortBlocksOnASingleLine: Empty
+AllowShortFunctionsOnASingleLine: True

.clang-tidy

@@ -0,0 +1,21 @@
+# TODO: Enable the disabled checks.
+Checks:
+  modernize*,
+  cppcoreguidelines*,
+  misc*,
+  google*,
+  clang-analyzer*,
+  hicpp*,
+  performance*,
+  readability*,
+  -google-readability-todo,
+  -hicpp-named-parameter,
+  -misc-include-cleaner,
+  -misc-non-private-member-variables-in-classes,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -readability-magic-numbers,
+  -modernize-use-nodiscard,
+  -modernize-use-trailing-return-type,
+  -readability-avoid-const-params-in-decls,
+  -readability-identifier-length,
+  -readability-named-parameter,

.github/workflows/cpp-linter.yaml

@@ -0,0 +1,44 @@
+name: cpp-linter
+on:
+  pull_request:
+    branches: [main, dev]
+    paths: ['**.c', '**.h', '**.cpp', '**.hpp', '**CMakeLists.txt']
+
+jobs:
+  cpp-linter:
+    runs-on: ubuntu-24.04
+    container: ros:humble
+    permissions:
+      contents: read
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - run: git config --system --add safe.directory "$PWD"
+
+      - name: Install ATOS
+        run: |
+          ./setup_atos.sh
+        shell: bash
+
+      - name: Add to PATH
+        shell: bash
+        run: |
+          echo "/github/home/.local/bin/" >> $GITHUB_PATH
+
+      - uses: cpp-linter/cpp-linter-action@v2
+        id: linter
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          style: 'file'
+          tidy-checks: ''
+          database: "build"
+          version: 18
+          # lines-changed-only: true
+          files-changed-only: false
+          tidy-review: true
+          passive-reviews: true

atos/CMakeLists.txt

@@ -12,6 +12,7 @@ set(CMAKE_COLOR_MAKEFILE   ON)
 set(COMPILER_WARNINGS "-Wall -Wextra")
 set(CMAKE_CXX_COMPILER "clang++")
 set(CMAKE_C_COMPILER "clang")
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 #Set preprocessor macros depending on used ros version
 if ($ENV{ROS_DISTRO} STREQUAL "foxy")