Provide clang-tidy feedback inline on pull requests

[EzraBrooks]

Is your feature request related to a problem? Please describe.

Digging through clang-tidy output in CI is inconvenient, and the GitHub Checks API allows Checks to annotate PRs with feedback so you don't have to dig.

Describe the solution you'd like

Use clang-tidy-action, or similar, to annotate clang-tidy violations onto PR diffs. Here's an example of what it looks like:

Describe alternatives you've considered

There are third-party tools for visualizing these things, but having it directly in GitHub is much nicer.

Additional context

Exporting the clang-tidy fixes file from industrial_ci is not currently supported as far as I can tell, see ros-industrial/industrial_ci#796.

@tylerjw asked me to create this issue so he wouldn't forget my suggestion 😄