feat: improve clang-tidy tutorial (#694)

Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>

Author: xmfcx

docs/how-to-guides/others/applying-clang-tidy-to-ros-packages.md

@@ -2,6 +2,28 @@
 
 [Clang-Tidy](https://clang.llvm.org/extra/clang-tidy/) is a powerful C++ linter.
 
+## Prerequisites
+
+Install `fd-find` to make it easier to feed file lists to `run-clang-tidy`.
+More info can be found in the [fd documentation](https://github.com/sharkdp/fd?tab=readme-ov-file#on-ubuntu).
+
+```bash
+sudo apt-get install fd-find
+```
+
+Install `clang-tidy` and `clang-apply-replacements`.
+
+```bash
+sudo apt-get install clang-tidy clang-tools
+```
+
+If you encounter `clang-diagnostic-error`, try installing `libomp-dev`.
+Related: <https://github.com/autowarefoundation/autoware-github-actions/pull/172>
+
+```bash
+sudo apt-get install libomp-dev
+```
+
 ## Preparation
 
 You need to generate `build/compile_commands.json` before using Clang-Tidy.
@@ -12,17 +34,29 @@ colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
 
 ## Usage
 
+If you are on Ubuntu 22.04, run the following command **only once** to help `run-clang-tidy` find the correct include paths.
+**Reference:** [autoware/pull/5543](https://github.com/autowarefoundation/autoware/pull/5543#issuecomment-2533325979).
+
+```bash
+sed -i '/- -Wno-c11-extensions/a\  - -I/usr/include/c++/11\n  - -I/usr/include/x86_64-linux-gnu/c++/11' .clang-tidy-ci
+```
+
+To run Clang-Tidy with all files in a package and export fixes to a YAML file, run the following command from the workspace root.
+Here we use `autoware_utils` as an example package name.
+
 ```bash
-clang-tidy -p build/ path/to/file1 path/to/file2 ...
+cd autoware/
+run-clang-tidy -p build/ -config="$(cat .clang-tidy-ci)" -export-fixes clang-tidy-fixes.yaml -j $(nproc) $(fdfind -e cpp -e hpp --full-path "/autoware_utils/") > clang-tidy-report.log
 ```
 
-If you want to apply Clang-Tidy to all files in a package, using the [fd](https://github.com/sharkdp/fd) command is useful.
-To install `fd`, see the [installation manual](https://github.com/sharkdp/fd#on-ubuntu).
+To apply fixes directly, run the following command.
 
 ```bash
-clang-tidy -p build/ $(fd -e cpp -e hpp --full-path "/autoware_utils/")
+run-clang-tidy -p build/ -config="$(cat .clang-tidy-ci)" -j $(nproc) -fix $(fdfind -e cpp -e hpp --full-path "/autoware_utils/")
 ```
 
+`clang-apply-replacements` command can also be used to apply fixes from a YAML file.
+
 ## IDE integration
 
 ### CLion
@@ -35,9 +69,3 @@ Use either one of the following extensions:
 
 - [C/C++](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools)
 - [clangd](https://marketplace.visualstudio.com/items?itemName=llvm-vs-code-extensions.vscode-clangd)
-
-## Troubleshooting
-
-If you encounter `clang-diagnostic-error`, try installing `libomp-dev`.
-
-Related: <https://github.com/autowarefoundation/autoware-github-actions/pull/172>