diff --git a/.github/workflows/cpp.yml b/.github/workflows/cpp.yml
index cf6e26e23..871b22c13 100644
--- a/.github/workflows/cpp.yml
+++ b/.github/workflows/cpp.yml
@@ -80,3 +80,32 @@ jobs:
             echo "Not all tests passed!"
             exit 1
           fi
+
+  clang-tidy:
+    name: Clang tidy
+    needs: [ build ]
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Fetch the package's repository
+        uses: actions/checkout@v4
+
+      - name: Setup CMake
+        uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: '3.18'
+
+      - name: Setup clang-tidy
+        run: |
+          sudo apt-get update
+          sudo apt-get install -q -y --no-install-recommends clang-tidy
+
+      - name: Configure CMake
+        working-directory: ${{github.workspace}}
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release library/cpp
+
+      - name: Run clang-tidy
+        working-directory: ${{github.workspace}}/build
+        run: |
+          echo "::add-matcher::./.github/problem-matchers/clang-tidy.json"
+          run-clang-tidy -header-filter="*include/wavemap/*" -quiet
+          echo "::remove-matcher owner=problem-matcher-clang-tidy::"
diff --git a/interfaces/ros1/wavemap_ros/CMakeLists.txt b/interfaces/ros1/wavemap_ros/CMakeLists.txt
index 34d6a9568..e90bc7449 100644
--- a/interfaces/ros1/wavemap_ros/CMakeLists.txt
+++ b/interfaces/ros1/wavemap_ros/CMakeLists.txt
@@ -27,9 +27,6 @@ if (livox_ros_driver2_FOUND)
   add_compile_definitions(LIVOX_AVAILABLE)
 endif ()
 
-# Enable general wavemap tooling (e.g. to run clang-tidy CI)
-enable_wavemap_general_tooling()
-
 # Libraries
 add_library(${PROJECT_NAME}
     src/inputs/depth_image_topic_input.cc
diff --git a/interfaces/ros1/wavemap_ros_conversions/CMakeLists.txt b/interfaces/ros1/wavemap_ros_conversions/CMakeLists.txt
index 6a2e2f381..2c505017e 100644
--- a/interfaces/ros1/wavemap_ros_conversions/CMakeLists.txt
+++ b/interfaces/ros1/wavemap_ros_conversions/CMakeLists.txt
@@ -11,9 +11,6 @@ catkin_package(
     LIBRARIES ${PROJECT_NAME}
     CATKIN_DEPENDS roscpp eigen_conversions wavemap wavemap_msgs)
 
-# Enable general wavemap tooling (e.g. to run clang-tidy CI)
-enable_wavemap_general_tooling()
-
 # Libraries
 add_library(${PROJECT_NAME}
     src/config_conversions.cc
diff --git a/library/cpp/CMakeLists.txt b/library/cpp/CMakeLists.txt
index e917d9efe..b4a50fba4 100644
--- a/library/cpp/CMakeLists.txt
+++ b/library/cpp/CMakeLists.txt
@@ -15,7 +15,9 @@ option(USE_SYSTEM_BOOST "Use system pre-installed Boost" ON)
 # CMake helpers and general wavemap tooling (e.g. to run clang-tidy CI)
 include(GNUInstallDirs)
 include(cmake/wavemap-extras.cmake)
-enable_wavemap_general_tooling()
+
+# Export compilation database for compatibility with clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # Dependencies
 include(cmake/find-wavemap-deps.cmake)
diff --git a/library/cpp/cmake/wavemap-extras.cmake b/library/cpp/cmake/wavemap-extras.cmake
index ecd761aa7..aa7a2a48b 100644
--- a/library/cpp/cmake/wavemap-extras.cmake
+++ b/library/cpp/cmake/wavemap-extras.cmake
@@ -8,14 +8,6 @@ option(ENABLE_COVERAGE_TESTING
     "Compile with necessary flags for coverage testing" OFF)
 option(USE_CLANG_TIDY "Generate necessary files to run clang-tidy" OFF)
 
-# Enable general wavemap tooling for the calling CMake project
-function(enable_wavemap_general_tooling)
-  # Export compilation database for compatibility with clang-tidy
-  if (USE_CLANG_TIDY)
-    set(CMAKE_EXPORT_COMPILE_COMMANDS ON PARENT_SCOPE)
-  endif ()
-endfunction()
-
 # Adds the include paths of the wavemap library to the given target.
 function(add_wavemap_include_directories target)
   # Configure the include dirs