diff --git a/.github/actions/setup-environment/action.yml b/.github/actions/setup-environment/action.yml
new file mode 100644
index 0000000..1b4e642
--- /dev/null
+++ b/.github/actions/setup-environment/action.yml
@@ -0,0 +1,20 @@
+name: setup-environment
+
+runs:
+  using: "composite"
+  steps:
+    - name: Install Rust
+      uses: actions-rs/toolchain@v1
+      with:
+        profile: minimal
+        toolchain: nightly
+        components: rustfmt, clippy
+        override: true
+    - name: Install ROS
+      uses: ros-tooling/setup-ros@v0.6
+      with:
+        required-ros-distributions: noetic
+    - uses: Swatinem/rust-cache@v2
+    - name: Install dependencies
+      shell: bash
+      run: sudo apt install -y protobuf-compiler
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 0419ac5..8692ae6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -18,17 +18,8 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: "recursive"
-      - uses: actions-rs/toolchain@v1
-        with:
-          profile: minimal
-          toolchain: stable
-          override: true
-      - uses: ros-tooling/setup-ros@v0.6
-        with:
-          required-ros-distributions: noetic
-      - uses: Swatinem/rust-cache@v2
-      - name: Install dependencies
-        run: sudo apt install -y protobuf-compiler
+      - name: Setting environment
+        uses: ./.github/actions/setup-environment
       - name: Compile the project
         run: |
           source /opt/ros/noetic/setup.bash
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index 7af55f7..361cdad 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -20,3 +20,27 @@ jobs:
             pre-commit install
         - name: Run pre-commit checks
           run: pre-commit run --all-files
+  clippy:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout workspace
+        uses: actions/checkout@v3
+        with:
+          submodules: "recursive"
+      - name: Setting environment
+        uses: ./.github/actions/setup-environment
+      - name: Run clippy
+        run: |
+          source /opt/ros/noetic/setup.bash
+          cargo clippy -- -Dwarnings
+  fmt:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout workspace
+        uses: actions/checkout@v3
+      - name: Setting environment
+        uses: ./.github/actions/setup-environment
+      - name: Run fmt
+        run: |
+          source /opt/ros/noetic/setup.bash
+          cargo fmt --all -- --check
diff --git a/src/lib.rs b/src/lib.rs
index 170def5..e169627 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,2 +1,4 @@
 #![allow(non_camel_case_types)]
+// because of the generated code by tonic
+#![allow(clippy::redundant_async_block)]
 pub mod grpc;
diff --git a/src/main.rs b/src/main.rs
index 9a79dcd..596d4f3 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -13,6 +13,8 @@ use tracing::{debug, info, trace, Level};
 use tracing_subscriber::FmtSubscriber;
 type StdError = Box<dyn std::error::Error + Send + Sync + 'static>;
 type Result<T, E = StdError> = ::std::result::Result<T, E>;
+type TwistSender = tokio::sync::mpsc::Sender<Result<rosrust_msg::geometry_msgs::Twist, Status>>;
+type TwistReceiver = tokio::sync::mpsc::Receiver<Result<rosrust_msg::geometry_msgs::Twist, Status>>;
 
 struct AmgigRosBridgeGrpcClient {
     client: CanbusServiceClient<tonic::transport::Channel>,
@@ -185,10 +187,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         .build()?;
 
     // Async channels to pass messages across threads in an async tokio context.
-    let (tx, rx): (
-        tokio::sync::mpsc::Sender<Result<rosrust_msg::geometry_msgs::Twist, Status>>,
-        tokio::sync::mpsc::Receiver<Result<rosrust_msg::geometry_msgs::Twist, Status>>,
-    ) = mpsc::channel(128);
+    let (tx, rx): (TwistSender, TwistReceiver) = mpsc::channel(128);
 
     let (shutdown_tx, shutdown_rx1) = broadcast::channel(16);