diff --git a/.github/ci.sh b/.github/ci.sh
index 9d09f1d4..b7bb45a3 100755
--- a/.github/ci.sh
+++ b/.github/ci.sh
@@ -140,6 +140,38 @@ function build_colcon_debug
     ros2 pkg executables fixposition_driver_ros2
 }
 
+# ----------------------------------------------------------------------------------------------------------------------
+
+TITLES["build_colcon_release_clang"]="Build colcon (release, with ROS2, clang instead of GCC)"
+function build_colcon_release_clang
+{
+    local buildname=${FPSDK_IMAGE}_build_colcon_release_clang
+    ${FP_SRC_DIR}/create_ros_ws.sh ${buildname} || return 1
+    cd ${FP_SRC_DIR}/${buildname}
+    export CC=clang CXX=clang++
+    colcon build || return 1
+    set +u
+    source install/setup.bash
+    set -u
+    ros2 pkg executables fixposition_driver_ros2
+    unset CC CXX
+}
+
+TITLES["build_colcon_debug_clang"]="Build colcon (debug, with ROS2, clang instead of GCC)"
+function build_colcon_debug_clang
+{
+    local buildname=${FPSDK_IMAGE}_build_colcon_debug_clang
+    ${FP_SRC_DIR}/create_ros_ws.sh -d ${buildname} || return 1
+    cd ${FP_SRC_DIR}/${buildname}
+    export CC=clang CXX=clang++
+    colcon build || return 1
+    set +u
+    source install/setup.bash
+    set -u
+    ros2 pkg executables fixposition_driver_ros2
+    unset CC CXX
+}
+
 ########################################################################################################################
 
 # Always
@@ -162,6 +194,9 @@ elif [ "${ROS_DISTRO}" = "humble" -o "${ROS_DISTRO}" = "jazzy" ]; then
 
     do_step build_colcon_release          || true # continue
     do_step build_colcon_debug            || true # continue
+
+    do_step build_colcon_release_clang    || true # continue
+    do_step build_colcon_debug_clang      || true # continue
 fi
 
 ########################################################################################################################
diff --git a/fixposition_driver_ros2/src/fixposition_driver_node.cpp b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
index 8c21b3ab..4cc43468 100644
--- a/fixposition_driver_ros2/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
@@ -625,7 +625,7 @@ void FixpositionDriverNode::ProcessOdometryData(const OdometryData& odometry_dat
 
             // Output jump warning
             if (params_.cov_warning_ && odometry_data.valid && jump_detector_.Check(odometry_data)) {
-                RCLCPP_WARN(logger_, jump_detector_.warning_.c_str());
+                RCLCPP_WARN(logger_, "%s", jump_detector_.warning_.c_str());
                 PublishJumpWarning(jump_detector_, jump_pub_);
             }