diff --git a/.github/issue_template/task-template.md b/.github/issue_template/task-template.md
deleted file mode 100644
index 5db17f9..0000000
--- a/.github/issue_template/task-template.md
+++ /dev/null
@@ -1,14 +0,0 @@
----
-name: Task template
-about: 'Use this template when defining a new task in an issue. Make sure to fill
-  out all the fields. '
-title: "[TASK]"
-labels: ''
-assignees: ''
-
----
-
-**Time estimate:** XX hours
-**Deadline:**  DD.MONTH
-
-**Description of task:** DESCRIPTION
diff --git a/.github/workflows/code-coverage.yml b/.github/workflows/code-coverage.yml
new file mode 100644
index 0000000..7b9b6db
--- /dev/null
+++ b/.github/workflows/code-coverage.yml
@@ -0,0 +1,12 @@
+name: Code Coverage
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [ opened, synchronize, reopened, ready_for_review ]
+jobs:
+  code-coverage:
+    uses: vortexntnu/vortex-ci/.github/workflows/reusable-code-coverage.yml@main
+    secrets:
+      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} # Set in the repository secrets
diff --git a/.github/workflows/industrial-ci.yml b/.github/workflows/industrial-ci.yml
index 1e5046c..23b5750 100644
--- a/.github/workflows/industrial-ci.yml
+++ b/.github/workflows/industrial-ci.yml
@@ -2,9 +2,15 @@ name: Industrial CI
 
 on:
   push:
+    branches:
+      - main
+  pull_request:
+    types: [ opened, synchronize, reopened, ready_for_review ]
   workflow_dispatch:
   schedule:
     - cron: '0 1 * * *' # Runs daily to check for dependency issues or flaking tests
 jobs:
-  call_reusable_workflow:
+  industrial-ci:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-industrial-ci.yml@main
+    with:
+      ros_repo: '["testing", "main"]'
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
new file mode 100644
index 0000000..aaf534b
--- /dev/null
+++ b/.github/workflows/pre-commit.yml
@@ -0,0 +1,14 @@
+name: pre-commit
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [ opened, synchronize, reopened, ready_for_review ]
+  workflow_dispatch:
+jobs:
+  pre-commit:
+    uses: vortexntnu/vortex-ci/.github/workflows/reusable-pre-commit.yml@main
+    with:
+      ros_distro: 'humble'
+      config_path: '.pre-commit-config.yaml'
diff --git a/.github/workflows/semantic-release.yml b/.github/workflows/semantic-release.yml
index 70779d4..765aa2c 100644
--- a/.github/workflows/semantic-release.yml
+++ b/.github/workflows/semantic-release.yml
@@ -5,5 +5,5 @@ on:
     branches:
       - main
 jobs:
-  call_reusable_workflow:
+  semantic-release:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-semantic-release.yml@main
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e1850c7..2b28f20 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -35,7 +35,7 @@ repos:
       - id: requirements-txt-fixer
   # Python hooks
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.9.2
+    rev: v0.14.5
     hooks:
       - id: ruff-format
       - id: ruff
@@ -70,16 +70,46 @@ repos:
         pass_filenames: true
   # C++ hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.7
+    rev: v21.1.5
     hooks:
       - id: clang-format
         args: [--style=file]
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        exclude: (^|/)(test|tests)/.*  # exclude test dirs since ament_cppcheck misparses GTest macros and throws false syntax errors
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: [
+          "--linelength=120",
+          "--filter=-whitespace/newline,-legal/copyright,-build/include_order" # ignore build/include_order since it conflicts with .clang-format
+        ]
+  # CMake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
   # Spellcheck in comments and docs
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
+    rev: v2.4.1
     hooks:
       - id: codespell
-        args: ['--write-changes', '--ignore-words-list=theses,fom']
+        args: ['--write-changes', '--ignore-words-list=theses,fom,NED,ENU']
 
 ci:
     autoupdate_schedule: quarterly
diff --git a/codecov.yml b/codecov.yml
new file mode 100644
index 0000000..f49585e
--- /dev/null
+++ b/codecov.yml
@@ -0,0 +1,17 @@
+coverage:
+  precision: 2
+  round: down
+  status:
+    project:
+      default:
+        informational: true
+        flags:
+          - unittests
+    patch: off
+comment:
+  layout: "diff, flags, files"
+  behavior: default
+flags:
+  unittests:
+    paths:
+      - "**"