diff --git a/ament_clang_tidy/ament_clang_tidy/main.py b/ament_clang_tidy/ament_clang_tidy/main.py
index 96bf0ca6e..cc30595b9 100755
--- a/ament_clang_tidy/ament_clang_tidy/main.py
+++ b/ament_clang_tidy/ament_clang_tidy/main.py
@@ -87,6 +87,11 @@ def main(argv=sys.argv[1:]):
     parser.add_argument(
         '--xunit-file',
         help='Generate a xunit compliant XML file')
+    parser.add_argumet(
+        '--clang-tidy-path-exe',
+        default=None,
+        dest='clang_tidy_path',
+        help='Path to Clang Tidy executable')
     args = parser.parse_args(argv)
 
     if args.config_file is not None and not os.path.exists(args.config_file):
@@ -115,7 +120,10 @@ def main(argv=sys.argv[1:]):
         'clang-tidy-11',
         'clang-tidy-6.0',
     ]
-    clang_tidy_bin = find_executable(bin_names)
+    if args.clang_tidy_path:
+        clang_tidy_bin = args.clang_tidy_path if check_executable(args.clang_tidy_path) else None
+    else:
+        clang_tidy_bin = find_executable(bin_names)
     if not clang_tidy_bin:
         print('Could not find %s executable' %
               ' / '.join(["'%s'" % n for n in bin_names]), file=sys.stderr)
@@ -268,11 +276,15 @@ def find_executable(file_names):
     for file_name in file_names:
         for path in paths:
             file_path = os.path.join(path, file_name)
-            if os.path.isfile(file_path) and os.access(file_path, os.X_OK):
+            if check_executable(file_path):
                 return file_path
     return None
 
 
+def check_executable(exec_path):
+    return os.path.isfile(exec_path) and os.access(exec_path, os.X_OK)
+
+
 def get_compilation_db_files(paths):
     files = []
     for path in paths:
diff --git a/ament_clang_tidy/doc/index.rst b/ament_clang_tidy/doc/index.rst
index 81fc2fc4d..9ed947434 100644
--- a/ament_clang_tidy/doc/index.rst
+++ b/ament_clang_tidy/doc/index.rst
@@ -22,6 +22,7 @@ have already been installed. ``compile_commands.json`` files should have already
                      [--system-headers] [--jobs N]
                      [--packages-select [PKG_NAME [PKG_NAME ...]]]
                      [--xunit-file XUNIT_FILE]
+                     [--clang-tidy-path-exe CLANG_TIDY_PATH_EXE]
                      [paths [paths ...]]
 
 If ``<paths>`` is a directory, it will be recursively searched for
@@ -59,6 +60,9 @@ to just those generated by specific ROS packages.
 The ``--xunit-file`` option will generate a xunit compliant XML file when
 supplied with a file name.
 
+The ``--clang-tidy-path-exe`` option allows you to set the path of the
+clang-tidy executalbe.
+
 How to run the check from within a CMake ament package as part of the tests?
 ----------------------------------------------------------------------------