From 028c56732e3bc964ee58448a215b7adc17815bf3 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:43:40 +0000
Subject: [PATCH 01/14] feat(dx): add test.sh convenience script with presets

Provides named presets (unit, integ, lint, tidy, all) with parallel
CTest execution to avoid remembering ctest filter flags.
---
 scripts/test.sh | 87 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 87 insertions(+)
 create mode 100755 scripts/test.sh

diff --git a/scripts/test.sh b/scripts/test.sh
new file mode 100755
index 00000000..1b44a664
--- /dev/null
+++ b/scripts/test.sh
@@ -0,0 +1,87 @@
+#!/bin/bash
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -euo pipefail
+
+# Quick-test presets for ros2_medkit development.
+# Usage: ./scripts/test.sh [preset] [extra colcon test args...]
+#
+# Presets:
+#   unit        - Unit tests only, no linters, no integration (DEFAULT)
+#   integ       - Integration tests only
+#   lint        - Linters only (clang-format, copyright, cmake-lint; NO clang-tidy)
+#   tidy        - clang-tidy only (slow, ~8-10 min)
+#   all         - Everything (equivalent to bare colcon test)
+#   <test_name> - Run a single test by CTest name regex
+#
+# Examples:
+#   ./scripts/test.sh                        # unit tests only
+#   ./scripts/test.sh integ                  # integration tests only
+#   ./scripts/test.sh lint                   # fast linters only
+#   ./scripts/test.sh test_health_handler    # single test
+#   ./scripts/test.sh unit --packages-select ros2_medkit_gateway
+
+PRESET="${1:-unit}"
+shift 2>/dev/null || true
+
+COMMON_ARGS=(--event-handlers console_direct+ --parallel-workers "$(nproc)" --return-code-on-test-failure)
+
+# Run tests, capture exit code so we always show results even on failure.
+set +e
+case "$PRESET" in
+  unit)
+    echo "==> Running unit tests (no linters, no integration)"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" -LE "linter|integration" \
+      "$@"
+    ;;
+  integ)
+    echo "==> Running integration tests only"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" -L integration \
+      "$@"
+    ;;
+  lint)
+    echo "==> Running linters (excluding clang-tidy)"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" -L linter -E "clang_tidy" \
+      "$@"
+    ;;
+  tidy)
+    echo "==> Running clang-tidy (this will take a while)"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" -R "clang_tidy" \
+      "$@"
+    ;;
+  all)
+    echo "==> Running all tests"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" \
+      "$@"
+    ;;
+  *)
+    echo "==> Running tests matching: $PRESET"
+    colcon test "${COMMON_ARGS[@]}" \
+      --ctest-args -j "$(nproc)" -R "$PRESET" \
+      "$@"
+    ;;
+esac
+TEST_EXIT=$?
+set -e
+
+echo ""
+echo "==> Results:"
+colcon test-result --verbose || true
+exit "$TEST_EXIT"

From 53f376791c1d8a60e360cbfbee5ed5de148b1cce Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:45:06 +0000
Subject: [PATCH 02/14] perf(build): make clang-tidy opt-in locally, mandatory
 in CI

clang-tidy takes 8-10 min on the gateway package alone. Gated behind
ENABLE_CLANG_TIDY=OFF (default). CI sets it ON for the Jazzy linter
job. Developers can still run it with:
  colcon build --cmake-args -DENABLE_CLANG_TIDY=ON
  ./scripts/test.sh tidy
---
 .github/workflows/ci.yml                      |  6 ++++-
 .../CMakeLists.txt                            | 13 ++++++++++-
 src/ros2_medkit_fault_manager/CMakeLists.txt  | 13 ++++++++++-
 src/ros2_medkit_fault_reporter/CMakeLists.txt | 13 ++++++++++-
 src/ros2_medkit_gateway/CMakeLists.txt        | 22 ++++++++++++-------
 src/ros2_medkit_serialization/CMakeLists.txt  | 20 ++++++++++-------
 6 files changed, 67 insertions(+), 20 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 973eea61..cb99320d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -75,8 +75,12 @@ jobs:
       - name: Build packages
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          CMAKE_EXTRA_ARGS=""
+          if [ "${{ matrix.ros_distro }}" = "jazzy" ]; then
+            CMAKE_EXTRA_ARGS="-DENABLE_CLANG_TIDY=ON"
+          fi
           colcon build --symlink-install \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release ${CMAKE_EXTRA_ARGS} \
             --event-handlers console_direct+
 
       - name: Run linters (clang-format, clang-tidy, etc.)
diff --git a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
index 3899734d..4746741a 100644
--- a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
+++ b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
@@ -91,6 +91,8 @@ install(DIRECTORY launch config
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp diagnostic_msgs ros2_medkit_msgs ros2_medkit_fault_reporter)
 
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -99,9 +101,18 @@ if(BUILD_TESTING)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
   set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
+  if(ENABLE_CLANG_TIDY)
+    find_package(ament_cmake_clang_tidy REQUIRED)
+    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+    ament_clang_tidy(
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      CONFIG_FILE "${_clang_tidy_config}"
+    )
+  endif()
+
   # Unit tests
   ament_add_gtest(test_diagnostic_bridge test/test_diagnostic_bridge.cpp)
   target_link_libraries(test_diagnostic_bridge diagnostic_bridge_lib)
diff --git a/src/ros2_medkit_fault_manager/CMakeLists.txt b/src/ros2_medkit_fault_manager/CMakeLists.txt
index 6b49ce5d..bf4e30f4 100644
--- a/src/ros2_medkit_fault_manager/CMakeLists.txt
+++ b/src/ros2_medkit_fault_manager/CMakeLists.txt
@@ -111,6 +111,8 @@ install(DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -119,9 +121,18 @@ if(BUILD_TESTING)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
   set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
+  if(ENABLE_CLANG_TIDY)
+    find_package(ament_cmake_clang_tidy REQUIRED)
+    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+    ament_clang_tidy(
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      CONFIG_FILE "${_clang_tidy_config}"
+    )
+  endif()
+
   # Unit tests
   ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
   target_link_libraries(test_fault_manager fault_manager_lib)
diff --git a/src/ros2_medkit_fault_reporter/CMakeLists.txt b/src/ros2_medkit_fault_reporter/CMakeLists.txt
index 66debb79..923297ab 100644
--- a/src/ros2_medkit_fault_reporter/CMakeLists.txt
+++ b/src/ros2_medkit_fault_reporter/CMakeLists.txt
@@ -78,6 +78,8 @@ install(DIRECTORY include/
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp ros2_medkit_msgs)
 
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -86,9 +88,18 @@ if(BUILD_TESTING)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
   set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
+  if(ENABLE_CLANG_TIDY)
+    find_package(ament_cmake_clang_tidy REQUIRED)
+    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+    ament_clang_tidy(
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      CONFIG_FILE "${_clang_tidy_config}"
+    )
+  endif()
+
   # Unit tests
   ament_add_gtest(test_local_filter test/test_local_filter.cpp)
   target_link_libraries(test_local_filter fault_reporter_lib)
diff --git a/src/ros2_medkit_gateway/CMakeLists.txt b/src/ros2_medkit_gateway/CMakeLists.txt
index 3010a408..60b6040d 100644
--- a/src/ros2_medkit_gateway/CMakeLists.txt
+++ b/src/ros2_medkit_gateway/CMakeLists.txt
@@ -188,6 +188,10 @@ install(PROGRAMS scripts/get_type_schema.py scripts/generate_dev_certs.sh
   DESTINATION share/${PROJECT_NAME}/scripts
 )
 
+# clang-tidy: opt-in locally (slow, ~8-10 min), mandatory in CI.
+# Enable with: colcon build --cmake-args -DENABLE_CLANG_TIDY=ON
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
 # Testing
 if(BUILD_TESTING)
   # Linting and code quality checks
@@ -244,14 +248,16 @@ if(BUILD_TESTING)
     CONFIG_FILE "${ament_cmake_clang_format_CONFIG_FILE}"
   )
 
-  # Configure clang-tidy manually with increased timeout (1500s instead of default 300s)
-  # This is needed because the project has many files and clang-tidy analysis takes time
-  ament_clang_tidy(
-    "${CMAKE_CURRENT_BINARY_DIR}"
-    CONFIG_FILE "${ament_cmake_clang_tidy_CONFIG_FILE}"
-    HEADER_FILTER "${ament_cmake_clang_tidy_HEADER_FILTER}"
-    TIMEOUT 1500
-  )
+  # clang-tidy: gated behind ENABLE_CLANG_TIDY (default OFF).
+  # CI sets -DENABLE_CLANG_TIDY=ON on Jazzy. Timeout 1500s for 142-file package.
+  if(ENABLE_CLANG_TIDY)
+    ament_clang_tidy(
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      CONFIG_FILE "${ament_cmake_clang_tidy_CONFIG_FILE}"
+      HEADER_FILTER "${ament_cmake_clang_tidy_HEADER_FILTER}"
+      TIMEOUT 1500
+    )
+  endif()
 
   # Add GTest
   find_package(ament_cmake_gtest REQUIRED)
diff --git a/src/ros2_medkit_serialization/CMakeLists.txt b/src/ros2_medkit_serialization/CMakeLists.txt
index 654d49e4..d304b8be 100644
--- a/src/ros2_medkit_serialization/CMakeLists.txt
+++ b/src/ros2_medkit_serialization/CMakeLists.txt
@@ -102,6 +102,8 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
@@ -140,14 +142,16 @@ if(BUILD_TESTING)
     "test/test_type_cache.cpp"
   )
 
-  # Configure clang-tidy manually for non-vendored files only
-  set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-  ament_clang_tidy(
-    "${CMAKE_CURRENT_BINARY_DIR}"
-    CONFIG_FILE "${_clang_tidy_config}"
-    HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/include/ros2_medkit_serialization/[^v].*"
-    TIMEOUT 300
-  )
+  # clang-tidy: gated behind ENABLE_CLANG_TIDY (default OFF).
+  if(ENABLE_CLANG_TIDY)
+    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+    ament_clang_tidy(
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      CONFIG_FILE "${_clang_tidy_config}"
+      HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/include/ros2_medkit_serialization/[^v].*"
+      TIMEOUT 300
+    )
+  endif()
 
   # Unit tests
   ament_add_gtest(test_type_cache test/test_type_cache.cpp)

From 70176f6933a8de89347ac5070c635a4db659df29 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:47:34 +0000
Subject: [PATCH 03/14] chore: fix copyright attribution to bburda

---
 src/ros2_medkit_diagnostic_bridge/CMakeLists.txt | 2 +-
 src/ros2_medkit_fault_manager/CMakeLists.txt     | 3 ++-
 src/ros2_medkit_fault_reporter/CMakeLists.txt    | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
index 4746741a..e7af5626 100644
--- a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
+++ b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright 2026 mfaferek93
+# Copyright 2026 mfaferek93, bburda
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/src/ros2_medkit_fault_manager/CMakeLists.txt b/src/ros2_medkit_fault_manager/CMakeLists.txt
index bf4e30f4..9086539e 100644
--- a/src/ros2_medkit_fault_manager/CMakeLists.txt
+++ b/src/ros2_medkit_fault_manager/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright 2025 mfaferek93
+# Copyright 2025-2026 mfaferek93, bburda
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,6 +22,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 # Multi-distro compatibility (Humble / Jazzy / Rolling)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
+include(ROS2MedkitCcache)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
diff --git a/src/ros2_medkit_fault_reporter/CMakeLists.txt b/src/ros2_medkit_fault_reporter/CMakeLists.txt
index 923297ab..25761b5a 100644
--- a/src/ros2_medkit_fault_reporter/CMakeLists.txt
+++ b/src/ros2_medkit_fault_reporter/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright 2025 mfaferek93
+# Copyright 2025-2026 mfaferek93, bburda
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

From 8e56f5a9c2d9b011711cd1ff790c50727cdac19e Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:47:52 +0000
Subject: [PATCH 04/14] feat(build): auto-detect ccache for faster incremental
 rebuilds

Adds ROS2MedkitCcache.cmake module that enables ccache when found on
PATH. All C++ packages include it. No effect when ccache is absent.
Set CCACHE_SLOPPINESS=pch_defines,time_macros for PCH compatibility.
---
 cmake/ROS2MedkitCcache.cmake                  | 36 +++++++++++++++++++
 .../CMakeLists.txt                            |  3 ++
 src/ros2_medkit_fault_reporter/CMakeLists.txt |  3 ++
 src/ros2_medkit_gateway/CMakeLists.txt        |  1 +
 src/ros2_medkit_serialization/CMakeLists.txt  |  1 +
 5 files changed, 44 insertions(+)
 create mode 100644 cmake/ROS2MedkitCcache.cmake

diff --git a/cmake/ROS2MedkitCcache.cmake b/cmake/ROS2MedkitCcache.cmake
new file mode 100644
index 00000000..589f05af
--- /dev/null
+++ b/cmake/ROS2MedkitCcache.cmake
@@ -0,0 +1,36 @@
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Auto-detect and enable ccache if available.
+# Include this module early in CMakeLists.txt (before add_library/add_executable).
+#
+# Override with: -DCMAKE_CXX_COMPILER_LAUNCHER=<path> / -DCMAKE_C_COMPILER_LAUNCHER=<path>
+#
+# When using with precompiled headers (PCH), set the environment variable:
+#   export CCACHE_SLOPPINESS=pch_defines,time_macros
+# Without this, ccache will have poor hit rates on PCH-using targets.
+
+if(NOT CMAKE_C_COMPILER_LAUNCHER OR NOT CMAKE_CXX_COMPILER_LAUNCHER)
+  find_program(_CCACHE ccache)
+  if(_CCACHE)
+    if(NOT CMAKE_C_COMPILER_LAUNCHER)
+      set(CMAKE_C_COMPILER_LAUNCHER "${_CCACHE}" CACHE STRING "C compiler launcher")
+    endif()
+    if(NOT CMAKE_CXX_COMPILER_LAUNCHER)
+      set(CMAKE_CXX_COMPILER_LAUNCHER "${_CCACHE}" CACHE STRING "C++ compiler launcher")
+    endif()
+    message(STATUS "ccache found: ${_CCACHE}")
+  endif()
+  unset(_CCACHE)
+endif()
diff --git a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
index e7af5626..ee772cd6 100644
--- a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
+++ b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
@@ -19,6 +19,9 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
+include(ROS2MedkitCcache)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
 endif()
diff --git a/src/ros2_medkit_fault_reporter/CMakeLists.txt b/src/ros2_medkit_fault_reporter/CMakeLists.txt
index 25761b5a..16dddf63 100644
--- a/src/ros2_medkit_fault_reporter/CMakeLists.txt
+++ b/src/ros2_medkit_fault_reporter/CMakeLists.txt
@@ -19,6 +19,9 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
+include(ROS2MedkitCcache)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
 endif()
diff --git a/src/ros2_medkit_gateway/CMakeLists.txt b/src/ros2_medkit_gateway/CMakeLists.txt
index 60b6040d..dee3eac4 100644
--- a/src/ros2_medkit_gateway/CMakeLists.txt
+++ b/src/ros2_medkit_gateway/CMakeLists.txt
@@ -8,6 +8,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 # Multi-distro compatibility (Humble / Jazzy / Rolling)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
+include(ROS2MedkitCcache)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
diff --git a/src/ros2_medkit_serialization/CMakeLists.txt b/src/ros2_medkit_serialization/CMakeLists.txt
index d304b8be..5e099b5a 100644
--- a/src/ros2_medkit_serialization/CMakeLists.txt
+++ b/src/ros2_medkit_serialization/CMakeLists.txt
@@ -8,6 +8,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 # Multi-distro compatibility (Humble / Jazzy / Rolling)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
+include(ROS2MedkitCcache)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

From d557fd0faa9b57dafec228e609b2402aead8cfce Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:48:49 +0000
Subject: [PATCH 05/14] perf(build): add precompiled headers for gateway
 package

PCH for rclcpp, nlohmann/json, httplib, and common STL headers.
Reduces full gateway build time by ~30-40%. Can be disabled with
-DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON.
---
 src/ros2_medkit_gateway/CMakeLists.txt | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/src/ros2_medkit_gateway/CMakeLists.txt b/src/ros2_medkit_gateway/CMakeLists.txt
index dee3eac4..2f7e74ab 100644
--- a/src/ros2_medkit_gateway/CMakeLists.txt
+++ b/src/ros2_medkit_gateway/CMakeLists.txt
@@ -163,6 +163,25 @@ target_link_libraries(gateway_lib
   ${CMAKE_DL_LIBS}
 )
 
+# Precompiled headers - heavy headers used across most translation units.
+# Speeds up full builds by ~30-40%. Disable with -DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON.
+target_precompile_headers(gateway_lib PRIVATE
+  <string>
+  <vector>
+  <memory>
+  <optional>
+  <functional>
+  <unordered_map>
+  <algorithm>
+  <sstream>
+  <chrono>
+  <mutex>
+  <rclcpp/rclcpp.hpp>
+  <nlohmann/json.hpp>
+  <httplib.h>
+  <tl/expected.hpp>
+)
+
 # Gateway node executable
 add_executable(gateway_node src/main.cpp)
 target_link_libraries(gateway_node gateway_lib)

From d04f7a1a93bf06fb83199137bc223ab9d4e3b481 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:49:19 +0000
Subject: [PATCH 06/14] perf(ci): add ccache with GitHub Actions cache

ccache with persistent cache reduces CI rebuild times by ~30-50%
on subsequent runs. CCACHE_SLOPPINESS set for PCH compatibility.
---
 .github/workflows/ci.yml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cb99320d..2d4648fb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -41,6 +41,17 @@ jobs:
         with:
           required-ros-distributions: ${{ matrix.ros_distro }}
 
+      - name: Install ccache
+        run: apt-get install -y ccache
+
+      - name: Cache ccache
+        uses: actions/cache@v4
+        with:
+          path: /root/.cache/ccache
+          key: ccache-${{ matrix.ros_distro }}-${{ github.sha }}
+          restore-keys: |
+            ccache-${{ matrix.ros_distro }}-
+
       - name: Install cpp-httplib from source (Humble)
         if: matrix.ros_distro == 'humble'
         run: |
@@ -73,6 +84,10 @@ jobs:
           fi
 
       - name: Build packages
+        env:
+          CCACHE_DIR: /root/.cache/ccache
+          CCACHE_MAXSIZE: 500M
+          CCACHE_SLOPPINESS: pch_defines,time_macros
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           CMAKE_EXTRA_ARGS=""
@@ -82,6 +97,7 @@ jobs:
           colcon build --symlink-install \
             --cmake-args -DCMAKE_BUILD_TYPE=Release ${CMAKE_EXTRA_ARGS} \
             --event-handlers console_direct+
+          ccache -s
 
       - name: Run linters (clang-format, clang-tidy, etc.)
         if: matrix.ros_distro == 'jazzy'

From f654fcca76fca3fdaf288a0cc4ded44ad3e7cde9 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 15:52:21 +0000
Subject: [PATCH 07/14] feat(dx): add incremental clang-tidy as pre-push hook

Runs clang-tidy only on changed C++ source files using a merged
compile_commands.json. Typical run: 5-30s vs 8-10 min for full analysis.
Registered as pre-push hook (not pre-commit) to avoid slowing normal
commits. Run ./scripts/merge-compile-commands.sh after build.
---
 .devcontainer/setup-env.sh        |  6 +++
 .pre-commit-config.yaml           | 12 ++++++
 scripts/clang-tidy-diff.sh        | 66 +++++++++++++++++++++++++++++++
 scripts/merge-compile-commands.sh | 55 ++++++++++++++++++++++++++
 4 files changed, 139 insertions(+)
 create mode 100755 scripts/clang-tidy-diff.sh
 create mode 100755 scripts/merge-compile-commands.sh

diff --git a/.devcontainer/setup-env.sh b/.devcontainer/setup-env.sh
index b0774967..f2a524fd 100755
--- a/.devcontainer/setup-env.sh
+++ b/.devcontainer/setup-env.sh
@@ -22,6 +22,12 @@ if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
 fi
 rosdep update
 
+# Install pre-commit hooks (pre-commit for local, pre-push for clang-tidy)
+if command -v pre-commit &>/dev/null; then
+  pre-commit install
+  pre-commit install --hook-type pre-push
+fi
+
 # Test installations
 echo "Testing installations..."
 echo "ROS2 Jazzy: $(test -f /opt/ros/jazzy/setup.bash && echo 'Installed' || echo 'Not found')"
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6a243c88..80693442 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -60,3 +60,15 @@ repos:
         language: system
         types_or: [c, c++, python, cmake]
         exclude: /vendored/
+
+  # ── Incremental clang-tidy (pre-push only) ────────────────────────
+  # Requires: pre-commit install --hook-type pre-push
+  - repo: local
+    hooks:
+      - id: clang-tidy-diff
+        name: clang-tidy (changed files only)
+        entry: ./scripts/clang-tidy-diff.sh
+        language: system
+        types: [c++]
+        exclude: /vendored/
+        stages: [pre-push]
diff --git a/scripts/clang-tidy-diff.sh b/scripts/clang-tidy-diff.sh
new file mode 100755
index 00000000..3221ba24
--- /dev/null
+++ b/scripts/clang-tidy-diff.sh
@@ -0,0 +1,66 @@
+#!/bin/bash
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Incremental clang-tidy: only analyses C++ source files passed as arguments.
+# Designed for pre-commit which passes staged filenames.
+# Requires: merged compile_commands.json (run ./scripts/merge-compile-commands.sh after build).
+#
+# Usage (standalone):
+#   ./scripts/clang-tidy-diff.sh src/ros2_medkit_gateway/src/config.cpp
+#
+# Usage (via pre-commit): automatic - pre-commit passes changed files.
+
+set -euo pipefail
+
+COMPILE_DB="build/compile_commands.json"
+
+if [ ! -f "$COMPILE_DB" ]; then
+  echo "Warning: No merged compile_commands.json found."
+  echo "Run: colcon build && ./scripts/merge-compile-commands.sh"
+  exit 0
+fi
+
+REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
+CLANG_TIDY_CONFIG=".clang-tidy"
+ERRORS=0
+
+for file in "$@"; do
+  # Only process C++ source files (.cpp). Headers are checked transitively
+  # through their including .cpp files. CI runs full clang-tidy on all files.
+  case "$file" in
+    *.cpp) ;;
+    *) continue ;;
+  esac
+
+  if [[ "$file" == *"/vendored/"* ]]; then
+    continue
+  fi
+
+  # Resolve to absolute path for matching against compile_commands.json
+  ABS_FILE="$REPO_ROOT/$file"
+  if [ ! -f "$ABS_FILE" ]; then
+    ABS_FILE="$(realpath "$file" 2>/dev/null || echo "$file")"
+  fi
+
+  echo "clang-tidy: $file"
+  if ! clang-tidy -p "$(dirname "$COMPILE_DB")" --config-file="$CLANG_TIDY_CONFIG" "$ABS_FILE"; then
+    ERRORS=$((ERRORS + 1))
+  fi
+done
+
+if [ "$ERRORS" -gt 0 ]; then
+  echo "clang-tidy found issues in $ERRORS file(s)"
+  exit 1
+fi
diff --git a/scripts/merge-compile-commands.sh b/scripts/merge-compile-commands.sh
new file mode 100755
index 00000000..697f5e4a
--- /dev/null
+++ b/scripts/merge-compile-commands.sh
@@ -0,0 +1,55 @@
+#!/bin/bash
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Merges per-package compile_commands.json files into a single database.
+# Run after colcon build to enable project-wide clang-tidy analysis.
+#
+# Usage: ./scripts/merge-compile-commands.sh
+# Output: build/compile_commands.json
+
+set -euo pipefail
+
+MERGED="build/compile_commands.json"
+
+# Find all per-package compile_commands.json files
+DATABASES=(build/*/compile_commands.json)
+
+if [ ${#DATABASES[@]} -eq 0 ] || [ ! -f "${DATABASES[0]}" ]; then
+  echo "Error: No compile_commands.json found in build/*/."
+  echo "Run 'colcon build' first."
+  exit 1
+fi
+
+# Merge using jq if available, otherwise use Python
+if command -v jq &>/dev/null; then
+  jq -s 'add' "${DATABASES[@]}" > "$MERGED"
+else
+  python3 -c "
+import json, sys
+entries = []
+for f in sys.argv[2:]:
+    with open(f) as fh:
+        entries.extend(json.load(fh))
+with open(sys.argv[1], 'w') as fh:
+    json.dump(entries, fh, indent=2)
+" "$MERGED" "${DATABASES[@]}"
+fi
+
+if command -v jq &>/dev/null; then
+  COUNT=$(jq length "$MERGED")
+else
+  COUNT=$(python3 -c "import json; print(len(json.load(open('$MERGED'))))" 2>/dev/null || echo '?')
+fi
+echo "Merged ${#DATABASES[@]} databases into $MERGED ($COUNT entries)"

From 112f30dfeffbf3497f960e66a29ce9d0b2a173fc Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 17:40:33 +0000
Subject: [PATCH 08/14] feat(devcontainer): add ccache with PCH-compatible
 sloppiness config

---
 .devcontainer/Dockerfile   | 1 +
 .devcontainer/setup-env.sh | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 41090d7b..8e0b9220 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -34,6 +34,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y \
     yq \
     ca-certificates \
     clang-format \
+    ccache \
     clang-tidy \
     graphviz \
     plantuml \
diff --git a/.devcontainer/setup-env.sh b/.devcontainer/setup-env.sh
index f2a524fd..36b26c4f 100755
--- a/.devcontainer/setup-env.sh
+++ b/.devcontainer/setup-env.sh
@@ -5,6 +5,10 @@ set -e
 grep -Fxq "source /opt/ros/jazzy/setup.bash" ~/.bashrc || echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
 grep -Fxq "source /opt/ros/jazzy/setup.zsh" ~/.zshrc || echo "source /opt/ros/jazzy/setup.zsh" >> ~/.zshrc
 
+# ccache configuration for PCH compatibility
+grep -Fxq 'export CCACHE_SLOPPINESS=pch_defines,time_macros' ~/.bashrc || echo 'export CCACHE_SLOPPINESS=pch_defines,time_macros' >> ~/.bashrc
+grep -Fxq 'export CCACHE_SLOPPINESS=pch_defines,time_macros' ~/.zshrc || echo 'export CCACHE_SLOPPINESS=pch_defines,time_macros' >> ~/.zshrc
+
 # Source the current shell to apply changes immediately
 if [ -n "$ZSH_VERSION" ]; then
     # Running in zsh

From 53f85b1d47703b0f4d135cf8294a5b32dbdb8a26 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Wed, 25 Feb 2026 19:52:54 +0000
Subject: [PATCH 09/14] refactor(cmake): centralize ENABLE_CLANG_TIDY into
 ROS2MedkitLinting.cmake

Extract duplicated option(ENABLE_CLANG_TIDY) and clang-tidy configuration
into a shared cmake module. Each package now calls ros2_medkit_clang_tidy()
with optional HEADER_FILTER and TIMEOUT parameters.
---
 cmake/ROS2MedkitLinting.cmake                 | 48 +++++++++++++++++++
 .../CMakeLists.txt                            | 13 +----
 src/ros2_medkit_fault_manager/CMakeLists.txt  | 13 +----
 src/ros2_medkit_fault_reporter/CMakeLists.txt | 13 +----
 src/ros2_medkit_gateway/CMakeLists.txt        | 27 +++--------
 src/ros2_medkit_serialization/CMakeLists.txt  | 18 ++-----
 6 files changed, 65 insertions(+), 67 deletions(-)
 create mode 100644 cmake/ROS2MedkitLinting.cmake

diff --git a/cmake/ROS2MedkitLinting.cmake b/cmake/ROS2MedkitLinting.cmake
new file mode 100644
index 00000000..4db1474c
--- /dev/null
+++ b/cmake/ROS2MedkitLinting.cmake
@@ -0,0 +1,48 @@
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Shared linting configuration for ros2_medkit packages.
+# Include this in CMakeLists.txt BEFORE the if(BUILD_TESTING) block
+# (alongside include(ROS2MedkitCcache) - CMAKE_MODULE_PATH is already set).
+#
+# Provides:
+#   option ENABLE_CLANG_TIDY (default OFF)
+#   function ros2_medkit_clang_tidy([HEADER_FILTER <regex>] [TIMEOUT <seconds>])
+
+option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
+
+# Capture at include-time: inside a function CMAKE_CURRENT_LIST_DIR resolves to the caller.
+set(_ROS2_MEDKIT_CLANG_TIDY_CONFIG "${CMAKE_CURRENT_LIST_DIR}/../.clang-tidy")
+
+function(ros2_medkit_clang_tidy)
+  if(NOT ENABLE_CLANG_TIDY)
+    return()
+  endif()
+
+  cmake_parse_arguments(ARG "" "HEADER_FILTER;TIMEOUT" "" ${ARGN})
+
+  find_package(ament_cmake_clang_tidy REQUIRED)
+
+  set(_args "${CMAKE_CURRENT_BINARY_DIR}" CONFIG_FILE "${_ROS2_MEDKIT_CLANG_TIDY_CONFIG}")
+
+  if(ARG_HEADER_FILTER)
+    list(APPEND _args HEADER_FILTER "${ARG_HEADER_FILTER}")
+  endif()
+
+  if(ARG_TIMEOUT)
+    list(APPEND _args TIMEOUT "${ARG_TIMEOUT}")
+  endif()
+
+  ament_clang_tidy(${_args})
+endfunction()
diff --git a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
index ee772cd6..f392b14f 100644
--- a/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
+++ b/src/ros2_medkit_diagnostic_bridge/CMakeLists.txt
@@ -21,6 +21,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCcache)
+include(ROS2MedkitLinting)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
@@ -94,8 +95,6 @@ install(DIRECTORY launch config
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp diagnostic_msgs ros2_medkit_msgs ros2_medkit_fault_reporter)
 
-option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
-
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -103,18 +102,10 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
-  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
-  if(ENABLE_CLANG_TIDY)
-    find_package(ament_cmake_clang_tidy REQUIRED)
-    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-    ament_clang_tidy(
-      "${CMAKE_CURRENT_BINARY_DIR}"
-      CONFIG_FILE "${_clang_tidy_config}"
-    )
-  endif()
+  ros2_medkit_clang_tidy()
 
   # Unit tests
   ament_add_gtest(test_diagnostic_bridge test/test_diagnostic_bridge.cpp)
diff --git a/src/ros2_medkit_fault_manager/CMakeLists.txt b/src/ros2_medkit_fault_manager/CMakeLists.txt
index 9086539e..7b7e3329 100644
--- a/src/ros2_medkit_fault_manager/CMakeLists.txt
+++ b/src/ros2_medkit_fault_manager/CMakeLists.txt
@@ -23,6 +23,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
+include(ROS2MedkitLinting)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
@@ -112,8 +113,6 @@ install(DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 
-option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
-
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -121,18 +120,10 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
-  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
-  if(ENABLE_CLANG_TIDY)
-    find_package(ament_cmake_clang_tidy REQUIRED)
-    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-    ament_clang_tidy(
-      "${CMAKE_CURRENT_BINARY_DIR}"
-      CONFIG_FILE "${_clang_tidy_config}"
-    )
-  endif()
+  ros2_medkit_clang_tidy()
 
   # Unit tests
   ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
diff --git a/src/ros2_medkit_fault_reporter/CMakeLists.txt b/src/ros2_medkit_fault_reporter/CMakeLists.txt
index 16dddf63..3d7fc61f 100644
--- a/src/ros2_medkit_fault_reporter/CMakeLists.txt
+++ b/src/ros2_medkit_fault_reporter/CMakeLists.txt
@@ -21,6 +21,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCcache)
+include(ROS2MedkitLinting)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
@@ -81,8 +82,6 @@ install(DIRECTORY include/
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp ros2_medkit_msgs)
 
-option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
-
 # Testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -90,18 +89,10 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
-  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
   ament_lint_auto_find_test_dependencies()
 
-  if(ENABLE_CLANG_TIDY)
-    find_package(ament_cmake_clang_tidy REQUIRED)
-    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-    ament_clang_tidy(
-      "${CMAKE_CURRENT_BINARY_DIR}"
-      CONFIG_FILE "${_clang_tidy_config}"
-    )
-  endif()
+  ros2_medkit_clang_tidy()
 
   # Unit tests
   ament_add_gtest(test_local_filter test/test_local_filter.cpp)
diff --git a/src/ros2_medkit_gateway/CMakeLists.txt b/src/ros2_medkit_gateway/CMakeLists.txt
index 2f7e74ab..9be63260 100644
--- a/src/ros2_medkit_gateway/CMakeLists.txt
+++ b/src/ros2_medkit_gateway/CMakeLists.txt
@@ -9,6 +9,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
+include(ROS2MedkitLinting)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
@@ -208,22 +209,12 @@ install(PROGRAMS scripts/get_type_schema.py scripts/generate_dev_certs.sh
   DESTINATION share/${PROJECT_NAME}/scripts
 )
 
-# clang-tidy: opt-in locally (slow, ~8-10 min), mandatory in CI.
-# Enable with: colcon build --cmake-args -DENABLE_CLANG_TIDY=ON
-option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
-
 # Testing
 if(BUILD_TESTING)
   # Linting and code quality checks
   find_package(ament_lint_auto REQUIRED)
-  find_package(ament_cmake_clang_tidy REQUIRED)
-
-  # Use custom clang-format and clang-tidy configs from repo root
+  # Use custom clang-format config from repo root
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
-  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-
-  # Limit clang-tidy to only report issues from our source files (not vendored deps)
-  set(ament_cmake_clang_tidy_HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/(include|src|test)/")
 
   # Exclude linters that don't work well with vendored dependencies:
   # - uncrustify/cpplint: conflicts with clang-format
@@ -268,16 +259,10 @@ if(BUILD_TESTING)
     CONFIG_FILE "${ament_cmake_clang_format_CONFIG_FILE}"
   )
 
-  # clang-tidy: gated behind ENABLE_CLANG_TIDY (default OFF).
-  # CI sets -DENABLE_CLANG_TIDY=ON on Jazzy. Timeout 1500s for 142-file package.
-  if(ENABLE_CLANG_TIDY)
-    ament_clang_tidy(
-      "${CMAKE_CURRENT_BINARY_DIR}"
-      CONFIG_FILE "${ament_cmake_clang_tidy_CONFIG_FILE}"
-      HEADER_FILTER "${ament_cmake_clang_tidy_HEADER_FILTER}"
-      TIMEOUT 1500
-    )
-  endif()
+  ros2_medkit_clang_tidy(
+    HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/(include|src|test)/"
+    TIMEOUT 1500
+  )
 
   # Add GTest
   find_package(ament_cmake_gtest REQUIRED)
diff --git a/src/ros2_medkit_serialization/CMakeLists.txt b/src/ros2_medkit_serialization/CMakeLists.txt
index 5e099b5a..47f4b5c2 100644
--- a/src/ros2_medkit_serialization/CMakeLists.txt
+++ b/src/ros2_medkit_serialization/CMakeLists.txt
@@ -9,6 +9,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
+include(ROS2MedkitLinting)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -103,12 +104,9 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-option(ENABLE_CLANG_TIDY "Register clang-tidy as a CTest target" OFF)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
-  find_package(ament_cmake_clang_tidy REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(std_srvs REQUIRED)
   find_package(geometry_msgs REQUIRED)
@@ -143,16 +141,10 @@ if(BUILD_TESTING)
     "test/test_type_cache.cpp"
   )
 
-  # clang-tidy: gated behind ENABLE_CLANG_TIDY (default OFF).
-  if(ENABLE_CLANG_TIDY)
-    set(_clang_tidy_config "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
-    ament_clang_tidy(
-      "${CMAKE_CURRENT_BINARY_DIR}"
-      CONFIG_FILE "${_clang_tidy_config}"
-      HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/include/ros2_medkit_serialization/[^v].*"
-      TIMEOUT 300
-    )
-  endif()
+  ros2_medkit_clang_tidy(
+    HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/include/ros2_medkit_serialization/[^v].*"
+    TIMEOUT 300
+  )
 
   # Unit tests
   ament_add_gtest(test_type_cache test/test_type_cache.cpp)

From 136a0161570df42dcd1f85fa94458b54491b8d4d Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Fri, 27 Feb 2026 08:25:37 +0100
Subject: [PATCH 10/14] perf(ci): add ccache to coverage job

Adds ccache with persistent GitHub Actions cache to the coverage build.
Uses separate cache key (ccache-coverage-) from Release builds since
coverage builds with -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON.
---
 .github/workflows/ci.yml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2d4648fb..f53932f4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -153,6 +153,17 @@ jobs:
         with:
           required-ros-distributions: jazzy
 
+      - name: Install ccache
+        run: apt-get install -y ccache
+
+      - name: Cache ccache
+        uses: actions/cache@v4
+        with:
+          path: /root/.cache/ccache
+          key: ccache-coverage-${{ github.sha }}
+          restore-keys: |
+            ccache-coverage-
+
       - name: Install dependencies
         run: |
           apt-get update
@@ -162,11 +173,16 @@ jobs:
           rosdep install --from-paths src --ignore-src -r -y
 
       - name: Build packages with coverage
+        env:
+          CCACHE_DIR: /root/.cache/ccache
+          CCACHE_MAXSIZE: 500M
+          CCACHE_SLOPPINESS: pch_defines,time_macros
         run: |
           source /opt/ros/jazzy/setup.bash
           colcon build --symlink-install \
             --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON \
             --event-handlers console_direct+
+          ccache -s
 
       - name: Run unit and integration tests for coverage
         run: |

From 09017a5269a1d431aa74b3f4a508979ce5140645 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Fri, 27 Feb 2026 08:28:46 +0100
Subject: [PATCH 11/14] perf(ci): split Jazzy into parallel lint and test jobs

Removes Jazzy from the build-and-test matrix and creates dedicated
jazzy-build, jazzy-lint, and jazzy-test jobs. Lint and test run in
parallel after the build job completes, reducing wall-clock time by
~3min (previously sequential: build -> lint -> test).

Humble and Rolling remain as single build-and-test matrix jobs.
---
 .github/workflows/ci.yml | 201 +++++++++++++++++++++++++++++++++++----
 1 file changed, 184 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index f53932f4..685a5bc9 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -13,8 +13,6 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - ros_distro: jazzy
-            os_image: ubuntu:noble
           - ros_distro: humble
             os_image: ubuntu:jammy
           - ros_distro: rolling
@@ -69,13 +67,9 @@ jobs:
         run: |
           apt-get update
           apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs
-          # Linter tools only needed on Jazzy (clang versions differ across Ubuntu releases)
-          if [ "${{ matrix.ros_distro }}" = "jazzy" ]; then
-            apt-get install -y clang-format clang-tidy
-          fi
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           rosdep update
-          # On Humble, skip the libcpp-httplib-dev rosdep key — the apt version (0.10.3)
+          # On Humble, skip the libcpp-httplib-dev rosdep key - the apt version (0.10.3)
           # is too old; cpp-httplib v0.14.3 is built from source in an earlier step.
           if [ "${{ matrix.ros_distro }}" = "humble" ]; then
             rosdep install --from-paths src --ignore-src -r -y --skip-keys="libcpp-httplib-dev"
@@ -90,28 +84,201 @@ jobs:
           CCACHE_SLOPPINESS: pch_defines,time_macros
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-          CMAKE_EXTRA_ARGS=""
-          if [ "${{ matrix.ros_distro }}" = "jazzy" ]; then
-            CMAKE_EXTRA_ARGS="-DENABLE_CLANG_TIDY=ON"
-          fi
           colcon build --symlink-install \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release ${CMAKE_EXTRA_ARGS} \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release \
             --event-handlers console_direct+
           ccache -s
 
-      - name: Run linters (clang-format, clang-tidy, etc.)
-        if: matrix.ros_distro == 'jazzy'
+      - name: Run unit and integration tests
+        timeout-minutes: 15
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           source install/setup.bash
+          colcon test --return-code-on-test-failure \
+            --ctest-args -LE linter \
+            --event-handlers console_direct+
+
+      - name: Show test results
+        if: always()
+        run: colcon test-result --verbose
+
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-${{ matrix.ros_distro }}
+          path: |
+            log/
+            build/*/test_results/
+
+  jazzy-build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    timeout-minutes: 30
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update
+          apt-get install -y git
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up ROS 2 Jazzy
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install ccache
+        run: apt-get install -y ccache
+
+      - name: Cache ccache
+        uses: actions/cache@v4
+        with:
+          path: /root/.cache/ccache
+          key: ccache-jazzy-${{ github.sha }}
+          restore-keys: |
+            ccache-jazzy-
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y ros-jazzy-test-msgs clang-format clang-tidy
+          source /opt/ros/jazzy/setup.bash
+          rosdep update
+          rosdep install --from-paths src --ignore-src -y
+
+      - name: Build packages
+        env:
+          CCACHE_DIR: /root/.cache/ccache
+          CCACHE_MAXSIZE: 500M
+          CCACHE_SLOPPINESS: pch_defines,time_macros
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build --symlink-install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_CLANG_TIDY=ON \
+            --event-handlers console_direct+
+          ccache -s
+
+      - name: Package build artifacts
+        run: tar cf /tmp/jazzy-build.tar build/ install/
+
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: jazzy-build
+          path: /tmp/jazzy-build.tar
+          retention-days: 1
+
+  jazzy-lint:
+    needs: jazzy-build
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    timeout-minutes: 30
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update
+          apt-get install -y git
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up ROS 2 Jazzy
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y clang-format clang-tidy
+          source /opt/ros/jazzy/setup.bash
+          rosdep update
+          rosdep install --from-paths src --ignore-src -y
+
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: jazzy-build
+
+      - name: Extract build artifacts
+        run: tar xf jazzy-build.tar && rm jazzy-build.tar
+
+      - name: Run linters
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          source install/setup.bash
           colcon test --return-code-on-test-failure \
             --ctest-args -L linter \
             --event-handlers console_direct+
 
+      - name: Show test results
+        if: always()
+        run: colcon test-result --verbose
+
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-jazzy-lint
+          path: |
+            log/
+            build/*/test_results/
+
+  jazzy-test:
+    needs: jazzy-build
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    timeout-minutes: 15
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update
+          apt-get install -y git
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up ROS 2 Jazzy
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y ros-jazzy-test-msgs
+          source /opt/ros/jazzy/setup.bash
+          rosdep update
+          rosdep install --from-paths src --ignore-src -y
+
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: jazzy-build
+
+      - name: Extract build artifacts
+        run: tar xf jazzy-build.tar && rm jazzy-build.tar
+
       - name: Run unit and integration tests
-        timeout-minutes: 15
         run: |
-          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           colcon test --return-code-on-test-failure \
             --ctest-args -LE linter \
@@ -125,7 +292,7 @@ jobs:
         if: always()
         uses: actions/upload-artifact@v4
         with:
-          name: test-results-${{ matrix.ros_distro }}
+          name: test-results-jazzy-test
           path: |
             log/
             build/*/test_results/

From 1e2042f9d78f6f849307a9e62dc3b5a116511a0f Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Fri, 27 Feb 2026 11:39:58 +0100
Subject: [PATCH 12/14] docs: update README with test.sh, pre-push hook, and
 new CI structure

- Replace raw colcon test commands with scripts/test.sh presets
- Add pre-push hook section documenting clang-tidy-diff.sh and
  merge-compile-commands.sh setup
- Update CI/CD section to reflect the split Jazzy build/lint/test jobs
---
 README.md | 54 +++++++++++++++++++++++++++++++++---------------------
 1 file changed, 33 insertions(+), 21 deletions(-)

diff --git a/README.md b/README.md
index 9b8acad4..35c2346d 100644
--- a/README.md
+++ b/README.md
@@ -137,36 +137,43 @@ colcon build --symlink-install
 
 ### Testing
 
-Run all tests:
+Use the `scripts/test.sh` convenience script:
 
 ```bash
 source install/setup.bash
-colcon test
-colcon test-result --verbose
+./scripts/test.sh              # unit tests only (default)
+./scripts/test.sh integ        # integration tests only
+./scripts/test.sh lint         # linters (excluding clang-tidy)
+./scripts/test.sh tidy         # clang-tidy only (slow, ~8-10 min)
+./scripts/test.sh all          # everything
+./scripts/test.sh <test_name>  # single test by CTest name regex
 ```
 
-Run linters:
+You can pass extra colcon arguments after the preset:
 
 ```bash
-source install/setup.bash
-colcon test --ctest-args -L linters
-colcon test-result --verbose
+./scripts/test.sh unit --packages-select ros2_medkit_gateway
 ```
 
-Run only unit tests (everything except integration):
+### Pre-push Hook (clang-tidy)
+
+An incremental clang-tidy check runs automatically on `git push`, analyzing only changed `.cpp` files. Typical run takes 5-30s vs 8-10 min for a full analysis.
+
+Setup:
 
 ```bash
-source install/setup.bash
-colcon test --ctest-args -E test_integration
-colcon test-result --verbose
+# Build the merged compile_commands.json (required once after build)
+./scripts/merge-compile-commands.sh
+
+# Install the pre-push hook
+cp scripts/clang-tidy-diff.sh .git/hooks/pre-push
+chmod +x .git/hooks/pre-push
 ```
 
-Run only integration tests:
+To run manually without pushing:
 
 ```bash
-source install/setup.bash
-colcon test --ctest-args -R test_integration
-colcon test-result --verbose
+./scripts/clang-tidy-diff.sh
 ```
 
 ### Code Coverage
@@ -205,18 +212,23 @@ Then open `coverage_html/index.html` in your browser.
 ### CI/CD
 
 All pull requests and pushes to main are automatically built and tested using GitHub Actions.
-The CI workflow runs a build matrix across **ROS 2 Jazzy** (Ubuntu 24.04), **ROS 2 Humble** (Ubuntu 22.04), and **ROS 2 Rolling** (Ubuntu 24.04, allow-failure) and consists of the following jobs:
+The CI workflow tests across **ROS 2 Jazzy** (Ubuntu 24.04), **ROS 2 Humble** (Ubuntu 22.04), and **ROS 2 Rolling** (Ubuntu 24.04, allow-failure):
 
-**build-and-test** (matrix: Jazzy + Humble + Rolling):
+**build-and-test** (matrix: Humble + Rolling):
 
-- Full build and unit/integration tests on all distros
+- Full build with ccache and unit/integration tests
 - Rolling jobs are allowed to fail (best-effort forward-compatibility)
-- Code linting and formatting checks (clang-format, clang-tidy) — Jazzy only
+
+**jazzy-build** / **jazzy-lint** / **jazzy-test**:
+
+- `jazzy-build` compiles all packages with ccache and clang-tidy enabled
+- `jazzy-lint` and `jazzy-test` run in parallel after the build completes
+- Linting includes clang-format, clang-tidy, copyright, cmake-lint, and more
 
 **coverage** (Jazzy only):
 
-- Builds with coverage instrumentation (Debug mode)
-- Runs unit tests only (for stable coverage metrics)
+- Builds with coverage instrumentation (Debug mode, ccache-enabled)
+- Runs unit and integration tests (excluding linters)
 - Generates lcov coverage report (available as artifact)
 - Uploads coverage to Codecov (only on push to main)
 

From 5a5747b87b6885976d2391ce519bfacb753b8ea2 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Fri, 27 Feb 2026 19:19:41 +0100
Subject: [PATCH 13/14] docs: use pre-commit for pre-push hook instead of
 manual cp

Replace manual `cp scripts/clang-tidy-diff.sh .git/hooks/pre-push`
instructions with `pre-commit install --hook-type pre-push`, consistent
with .pre-commit-config.yaml and .devcontainer/setup-env.sh.
---
 README.md | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 35c2346d..df887788 100644
--- a/README.md
+++ b/README.md
@@ -110,11 +110,13 @@ This section is for contributors and developers who want to build and test ros2_
 ### Pre-commit Hooks
 
 This project uses [pre-commit](https://pre-commit.com/) to automatically run
-`clang-format`, `flake8`, and other checks on staged files before each commit.
+`clang-format`, `flake8`, and other checks on staged files before each commit,
+plus an incremental clang-tidy check on `git push`.
 
 ```bash
 pip install pre-commit
 pre-commit install
+pre-commit install --hook-type pre-push
 ```
 
 To run all hooks against every file (useful after first setup):
@@ -157,17 +159,16 @@ You can pass extra colcon arguments after the preset:
 
 ### Pre-push Hook (clang-tidy)
 
-An incremental clang-tidy check runs automatically on `git push`, analyzing only changed `.cpp` files. Typical run takes 5-30s vs 8-10 min for a full analysis.
+An incremental clang-tidy check runs automatically on `git push` via pre-commit, analyzing only changed `.cpp` files. Typical run takes 5-30s vs 8-10 min for a full analysis.
 
 Setup:
 
 ```bash
+# Install the pre-push hook (if not already done above)
+pre-commit install --hook-type pre-push
+
 # Build the merged compile_commands.json (required once after build)
 ./scripts/merge-compile-commands.sh
-
-# Install the pre-push hook
-cp scripts/clang-tidy-diff.sh .git/hooks/pre-push
-chmod +x .git/hooks/pre-push
 ```
 
 To run manually without pushing:

From dfe974276fbe544ba4d5cffcc260c621d8bb87d4 Mon Sep 17 00:00:00 2001
From: Bartosz Burda <bartoszburda93@gmail.com>
Date: Fri, 27 Feb 2026 19:22:22 +0100
Subject: [PATCH 14/14] fix(cmake): add include_guard(GLOBAL) to Linting and
 Ccache modules

Consistent with ROS2MedkitCompat.cmake to prevent double-inclusion.
---
 cmake/ROS2MedkitCcache.cmake  | 2 ++
 cmake/ROS2MedkitLinting.cmake | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/cmake/ROS2MedkitCcache.cmake b/cmake/ROS2MedkitCcache.cmake
index 589f05af..4a2f5bce 100644
--- a/cmake/ROS2MedkitCcache.cmake
+++ b/cmake/ROS2MedkitCcache.cmake
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include_guard(GLOBAL)
+
 # Auto-detect and enable ccache if available.
 # Include this module early in CMakeLists.txt (before add_library/add_executable).
 #
diff --git a/cmake/ROS2MedkitLinting.cmake b/cmake/ROS2MedkitLinting.cmake
index 4db1474c..c10f33b7 100644
--- a/cmake/ROS2MedkitLinting.cmake
+++ b/cmake/ROS2MedkitLinting.cmake
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include_guard(GLOBAL)
+
 # Shared linting configuration for ros2_medkit packages.
 # Include this in CMakeLists.txt BEFORE the if(BUILD_TESTING) block
 # (alongside include(ROS2MedkitCcache) - CMAKE_MODULE_PATH is already set).