From 1f8c5fabfc9bc4fa33ce98f451df087ed3703303 Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <scherzin@fzi.de>
Date: Sat, 5 Nov 2022 12:52:36 +0100
Subject: [PATCH 1/2] Build the complete stack with clang

Ubuntu 20.04 should have `clang-10` installed by default.
---
 .github/workflows/industrial_ci_noetic_action.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/industrial_ci_noetic_action.yml b/.github/workflows/industrial_ci_noetic_action.yml
index b9954eb3..45c09063 100644
--- a/.github/workflows/industrial_ci_noetic_action.yml
+++ b/.github/workflows/industrial_ci_noetic_action.yml
@@ -4,6 +4,11 @@ on: [push, pull_request]
 
 jobs:
   industrial_ci:
+    env:
+      # See the full documentation here:
+      # https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst
+      CXX: /usr/bin/clang++
+      CC: /usr/bin/clang
     strategy:
       fail-fast: false
       matrix:

From 4ce2156440d9da9baa37ae5effb2ef0db1c925a9 Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <scherzin@fzi.de>
Date: Sat, 5 Nov 2022 13:01:59 +0100
Subject: [PATCH 2/2] Add build dependencies for clang

`rosdep` now should install clang on the system.
See here: https://answers.ros.org/question/344031/
---
 cartesian_controller_base/package.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cartesian_controller_base/package.xml b/cartesian_controller_base/package.xml
index 82ce7800..33c686ca 100644
--- a/cartesian_controller_base/package.xml
+++ b/cartesian_controller_base/package.xml
@@ -39,6 +39,10 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <!-- For reproducing #99 -->
+  <build_depend>clang</build_depend>
+  <buildtool_depend>clang</buildtool_depend>
+
   <build_depend>roscpp</build_depend>
   <build_depend>controller_interface</build_depend>
   <build_depend>kdl_parser</build_depend>