diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 00000000..1d2fb755
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,5 @@
+---
+Checks: "clang-analyzer-core-*"
+WarningsAsErrors: ''
+FormatStyle: none
+HeaderFilterRegex: '^(?!/opt/ros/|/usr/).*'
\ No newline at end of file
diff --git a/.github/workflows/lint-and-format.yml b/.github/workflows/lint-and-format.yml
index 7856e038..bd802d29 100644
--- a/.github/workflows/lint-and-format.yml
+++ b/.github/workflows/lint-and-format.yml
@@ -27,4 +27,4 @@ jobs:
           find ./src \
             -path ./src/third-party -prune -o \
             \( -name "*.h" -o -name "*.hpp" -o -name "*.cpp" \) -print \
-          | xargs clang-format --dry-run --Werror
+          | xargs clang-format --dry-run --Werror
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 45746057..a4580612 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -158,7 +158,7 @@ FROM runtime AS dev
 RUN apt-get update && apt-get install -y --no-install-recommends \
         git x11-apps ros-humble-desktop ros-dev-tools black pylint \
         ros-humble-ament-cmake python3-colcon-common-extensions \
-        python3-colcon-ros clang-format cuda-compiler-12-6 \
+        python3-colcon-ros clang-format clang-tidy jq cuda-compiler-12-6 \
         cuda-cudart-dev-12-6 cuda-driver-dev-12-6 libpng-dev ccache \
         libc6-dev libssl-dev cuda-toolkit-12-6 libnvinfer10 \
         libnvinfer-plugin10 libnvonnxparsers10 \
diff --git a/build.sh b/build.sh
index 6a62a8bc..bf4368b6 100755
--- a/build.sh
+++ b/build.sh
@@ -10,4 +10,4 @@ find ./src -path ./src/third-party -prune -o \
 
 rosdep install --from-paths src -i -r -y
 
-colcon build --symlink-install --continue-on-error --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc)
\ No newline at end of file
+colcon build --symlink-install --continue-on-error --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --parallel-workers $(nproc)
diff --git a/linting-cpp.sh b/linting-cpp.sh
new file mode 100755
index 00000000..d36e008d
--- /dev/null
+++ b/linting-cpp.sh
@@ -0,0 +1,35 @@
+#!/bin/bash
+
+# To use this script:
+# 1. Add the names of the projects you want to exclude to excludedProjects
+# 2. Run the script: ./linting-cpp.sh
+# Note: This script must be in the root directory because of build.sh
+
+# Additional checks can be added to the .clang-tidy file
+
+# List of excluded projects
+excludedProjects=("third-party" "elevation_mapping" "interfaces" "kindr_msgs"
+                  "kindr_ros" "ouster_ros" "ouster_sensor_msgs" "ublox" 
+                  "ublox_gps" "ublox_msgs" "ublox_serialization" 
+                  "zed_components" "zed_ros2" "zed_wrapper")
+
+rootPath=$(pwd)
+
+# Run build script to generate compile_commands.json for each CMake project
+./build.sh
+
+excludedProjectsArgs=()
+
+# Format the excluded projects into an argument list that is read by find
+for excludedProject in "${excludedProjects[@]}"; do
+    excludedProjectsArgs+=("-not" "-path" "*/$excludedProject/*")
+done
+
+# Concatenate all compile_commands.json files into one file
+find build -name compile_commands.json -exec jq '.[]' {} + \
+    | jq -s '.' > build/compile_commands.json
+
+# Run clang-tidy
+# The find command filters the excluded projects out
+# All .cpp files in the included projects are linted (header files are also implicitly linted when included in a source file)
+run-clang-tidy -p build $(find src -type f -name "*.cpp" "${excludedProjectsArgs[@]}") -extra-arg-before=-std=c++17 -j $(nproc)
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