chore: clang tidy changes + readme update

Author: danielsanjosepro

.clang-tidy

@@ -5,12 +5,6 @@ Checks: >
   # Bug Prone Checks: Focus on potential bugs and common mistakes
   bugprone-*,
 
-  # C++ Core Guidelines Checks: Enforce Modern C++ Guidelines
-  cppcoreguidelines-*,
-
-  # Clang Static Analyzer Checks: Deeper semantic analysis for bugs
-  clang-analyzer-*,
-
   # Modernize Checks: Suggest modern C++ features and idioms
   modernize-*,
 
@@ -20,21 +14,22 @@ Checks: >
   # Readability Checks: Improve code readability and maintainability
   readability-*,
 
-  # Misc Checks: Catch various issues
-  misc-*,
-
   # Specific exceptions or stricter rules
   -modernize-use-trailing-return-type, # Often generates noisy suggestions
-  -cppcoreguidelines-pro-type-member-init, # Can be overly strict for some styles
+
+  # NOTE: These slow checks are disabled for pre-commit speed.
+  # Consider running them in CI:
+  # - clang-analyzer-* (deep dataflow analysis)
+  # - cppcoreguidelines-* (many checks, some overlap)
+  # - misc-*
 
 WarningsAsErrors: >
   bugprone-*,
-  clang-analyzer-*,
 
 HeaderFilterRegex: '^((?!/opt/ros|/usr/include).)*$'
 
-AnalyzeTemporaryDtors: true
-# Enables analysis of temporary destructors, which can catch more bugs but might be slower.
+# AnalyzeTemporaryDtors: true
+# Disabled for speed. Enable in CI for thorough analysis.
 
 FormatStyle: file
 # Integrate with .clang-format to ensure consistent formatting options.

.github/workflows/rolling_ros2_ci.yml

@@ -17,8 +17,6 @@ jobs:
       CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
       - uses: actions/checkout@v4 # clone target repository
-        with:
-          ref: rolling
       - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}

README.md

@@ -5,6 +5,9 @@
 <a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml/badge.svg"/></a>
 <a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml/badge.svg"/></a>
 <a href="https://danielsanjosepro.github.io/crisp_controllers/"><img alt="Static Badge" src="https://img.shields.io/badge/docs-passing-blue?style=flat&link=https%3A%2F%2Fdanielsanjosepro.github.io%2Fcrisp_controllers%2F"></a>
+
+> [!NOTE]
+> To reduce maintenance overhead, all ROS 2 distributions are supported from a single `main` branch. The code uses compile-time macros to handle version-specific differences.
 <a href="https://utiasDSL.github.io/crisp_controllers#citing"><img alt="Static Badge" src="https://img.shields.io/badge/arxiv-cite-b31b1b?style=flat"></a>
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more!