diff --git a/.github/workflows/build-binary.yml b/.github/workflows/build-binary.yml
index c0a587a2..6c85872e 100644
--- a/.github/workflows/build-binary.yml
+++ b/.github/workflows/build-binary.yml
@@ -25,3 +25,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: control_toolbox-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: ros2-master
+  binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: control_toolbox-not-released.rolling.repos
+      ref_for_scheduled_build: ros2-master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/include/control_toolbox/low_pass_filter.hpp b/include/control_toolbox/low_pass_filter.hpp
index 07351bdd..9ab7be8e 100644
--- a/include/control_toolbox/low_pass_filter.hpp
+++ b/include/control_toolbox/low_pass_filter.hpp
@@ -147,7 +147,7 @@ bool LowPassFilter<T>::configure()
   // Initialize storage Vectors
   filtered_value = filtered_old_value = old_value = 0;
   // TODO(destogl): make the size parameterizable and more intelligent is using complex types
-  for (size_t i = 0; i < 6; ++i)
+  for (Eigen::Index i = 0; i < 6; ++i)
   {
     msg_filtered[i] = msg_filtered_old[i] = msg_old[i] = 0;
   }
diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
index 58d0f609..36e18d28 100644
--- a/src/pid_ros.cpp
+++ b/src/pid_ros.cpp
@@ -221,7 +221,7 @@ std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::getPidSt
 
 double PidROS::computeCommand(double error, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, dt.nanoseconds());
+  double cmd_ = pid_.computeCommand(error, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;
@@ -229,7 +229,7 @@ double PidROS::computeCommand(double error, rclcpp::Duration dt)
 
 double PidROS::computeCommand(double error, double error_dot, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, error_dot, dt.nanoseconds());
+  double cmd_ = pid_.computeCommand(error, error_dot, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;
diff --git a/test/pid_tests.cpp b/test/pid_tests.cpp
index 22e3e3af..31498fda 100644
--- a/test/pid_tests.cpp
+++ b/test/pid_tests.cpp
@@ -80,11 +80,11 @@ TEST(ParameterTest, integrationClampTest)
   double cmd = 0.0;
 
   // Test lower limit
-  cmd = pid.computeCommand(-10.03, 1.0 * 1e9);
+  cmd = pid.computeCommand(-10.03, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-1.0, cmd);
 
   // Test upper limit
-  cmd = pid.computeCommand(30.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(30.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(1.0, cmd);
 }
 
@@ -104,13 +104,13 @@ TEST(ParameterTest, integrationClampZeroGainTest)
   double cmd = 0.0;
   double pe, ie, de;
 
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   pid.getCurrentPIDErrors(pe, ie, de);
   EXPECT_LE(i_min, cmd);
   EXPECT_LE(cmd, i_max);
   EXPECT_EQ(0.0, cmd);
 
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_LE(i_min, cmd);
   EXPECT_LE(cmd, i_max);
   EXPECT_EQ(0.0, cmd);
@@ -129,16 +129,16 @@ TEST(ParameterTest, integrationAntiwindupTest)
 
   double cmd = 0.0;
 
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-1.0, cmd);
 
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-1.0, cmd);
 
-  cmd = pid.computeCommand(0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.5, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(0.0, cmd);
 
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-1.0, cmd);
 }
 
@@ -155,16 +155,16 @@ TEST(ParameterTest, negativeIntegrationAntiwindupTest)
 
   double cmd = 0.0;
 
-  cmd = pid.computeCommand(0.1, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-0.2, cmd);
 
-  cmd = pid.computeCommand(0.1, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-0.2, cmd);
 
-  cmd = pid.computeCommand(-0.05, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.05, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-0.075, cmd);
 
-  cmd = pid.computeCommand(0.1, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.1, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-0.2, cmd);
 }
 
@@ -223,7 +223,7 @@ TEST(ParameterTest, gainSettingCopyPIDTest)
 
   // Send update command to populate errors -------------------------------------------------
   pid1.setCurrentCmd(10);
-  (void) pid1.computeCommand(20, 1.0 * 1e9);
+  (void) pid1.computeCommand(20, static_cast<uint64_t>(1.0 * 1e9));
 
   // Test copy constructor -------------------------------------------------
   Pid pid2(pid1);
@@ -291,22 +291,22 @@ TEST(CommandTest, proportionalOnlyTest)
   double cmd = 0.0;
 
   // If initial error = 0, p-gain = 1, dt = 1
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
 
   // If call again
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect the same as before
   EXPECT_EQ(-0.5, cmd);
 
   // If call again doubling the error
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect the command doubled
   EXPECT_EQ(-1.0, cmd);
 
   // If call with positive error
-  cmd = pid.computeCommand(0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect always command = error
   EXPECT_EQ(0.5, cmd);
 }
@@ -323,26 +323,26 @@ TEST(CommandTest, integralOnlyTest)
   double cmd = 0.0;
 
   // If initial error = 0, i-gain = 1, dt = 1
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
 
   // If call again with same arguments
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect the integral part to double the command
   EXPECT_EQ(-1.0, cmd);
 
   // Call again with no error
-  cmd = pid.computeCommand(0.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.0, static_cast<uint64_t>(1.0 * 1e9));
   // Expect the integral part to keep the previous command because it ensures error = 0
   EXPECT_EQ(-1.0, cmd);
 
   // Double check that the integral contribution keep the previous command
-  cmd = pid.computeCommand(0.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(0.0, static_cast<uint64_t>(1.0 * 1e9));
   EXPECT_EQ(-1.0, cmd);
 
   // Finally call again with positive error to see if the command changes in the opposite direction
-  cmd = pid.computeCommand(1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(1.0, static_cast<uint64_t>(1.0 * 1e9));
   // Expect that the command is cleared since error = -1 * previous command, i-gain = 1, dt = 1
   EXPECT_EQ(0.0, cmd);
 }
@@ -359,27 +359,27 @@ TEST(CommandTest, derivativeOnlyTest)
   double cmd = 0.0;
 
   // If initial error = 0, d-gain = 1, dt = 1
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
 
   // If call again with same error
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = 0 due to no variation on error
   EXPECT_EQ(0.0, cmd);
 
   // If call again with same error and smaller control period
-  cmd = pid.computeCommand(-0.5, 0.1 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(0.1 * 1e9));
   // Then expect command = 0 again
   EXPECT_EQ(0.0, cmd);
 
   // If the error increases,  with dt = 1
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect the command = change in dt
   EXPECT_EQ(-0.5, cmd);
 
   // If error decreases, with dt = 1
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect always the command = change in dt (note the sign flip)
   EXPECT_EQ(0.5, cmd);
 }
@@ -396,17 +396,17 @@ TEST(CommandTest, completePIDTest)
 
   // All contributions are tested, here few tests check that they sum up correctly
   // If initial error = 0, all gains = 1, dt = 1
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = 3x error
   EXPECT_EQ(-1.5, cmd);
 
   // If call again with same arguments, no error change, but integration do its part
-  cmd = pid.computeCommand(-0.5, 1.0 * 1e9);
+  cmd = pid.computeCommand(-0.5, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command = 3x error again
   EXPECT_EQ(-1.5, cmd);
 
   // If call again increasing the error
-  cmd = pid.computeCommand(-1.0, 1.0 * 1e9);
+  cmd = pid.computeCommand(-1.0, static_cast<uint64_t>(1.0 * 1e9));
   // Then expect command equals to p = -1, i = -2.0 (i.e. - 0.5 - 0.5 - 1.0), d = -0.5
   EXPECT_EQ(-3.5, cmd);
 }