diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 000000000..7c778928b
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,36 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+...
diff --git a/.travis.yml b/.travis.yml
index 6a09bc37c..3c7678ab1 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,11 +11,13 @@ compiler: gcc
 
 env:
   global:
-    - ROS_DISTRO=melodic
-    - DOCKER_IMAGE=moveit/moveit:master-source
+    - ROS_DISTRO=noetic
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
+    - WARNINGS_OK=false
   matrix:
-    - TEST="clang-format"
-    - ROS_DISTRO=melodic
+    - TEST="clang-format catkin_lint"
+    - TEST="clang-tidy-fix"
+    - DOCKER_IMAGE=moveit/moveit:master-source
 
 before_install: # Use this to prepare the system to install prerequisites or dependencies
   # Define some config vars