On that, sir, you are almost wholly incorrect. Galileo was denounced to the Inquisition in 1615. Although he was cleared at the time, the Church denounced heliocentrism the following year. Later in his life, he was again tried by the Inquisition, found guilty of heresy, forced to recant, and spend the remainder of his life under house arrest.
We: [names of ten Cardinals]By the grace of God, Cardinals of the Holy Roman Church, and especially commissioned by the Holy Apostolic See as Inquisitors-General against heretical depravity in all of Christendom.
Whereas you, Galileo, son of the late Vincenzio Galilei, Florentine, aged seventy years, were denounced to this Holy Office in 1615 for holding as true the false doctrine taught by some that the sun is the center of the world and motionless and the earth moves even with diurnal motion; for having disciples to whom you taught the same doctrine; for being in correspondence with some German mathematicians about it; for having published some letters entitiled On Sunspots, in which you explained the same doctrine as true; for interpreting Holy Scripture according to your own meaning in response to objections based on Scripture which were sometimes made to you; and whereas later we received a copy of an essay in the form of a letter, which was said to have been written by you to a former disciple of yours and which in accordance with Copernicus's position contains various propositions against the authority and true meaning of Holy Scripture;
(snip)
We say, pronounce, sentence, and declare that you, the above-mentioned Galileo, because of the things deduced in the trial and confessed by you as above, have rendered yourself according to this Holy Office vehemently suspected of heresy, namely of having held and believed a doctine which is false and contrary to the divine and Holy Scripture: that the sun is the center of the world and does not move from east to west, and the earth moves and is not the center of the world, and that one may hold and defend as probable an opinion after it has been declared and defined contrary to Holy Scripture. Consequently you have incurred all the censures and penalties imposed and promulgated by the sacred canons and all particular and general laws against such delinquents. We are willing to absolve you from them provided that first, with a sincere heart and unfeigned faith, in front of us you abjure, curse, and detest the above-mentioned errors and heresies, and every other error and heresy contrary to the Catholic and Apostolic Church, in the manner and form we will prescribe to you.
Furthermore, so that this serious and pernicious error and transgression of yours does not remain completely unpunished, and so that you will be more cautious in the future and an example for others to abstain from similar crimes, we order that the book Dialogue by Galileo Galilei be prohibited by public edict.
We condemn you to formal imprisonment in this Holy Office at our pleasure. As a salutary penance we impose on you to recite the seven penitential Psalms once a week for the next three years. And we reserve the authority to moderate, change, or condone wholly or in part the above-mentioned penalties and penances.
The Galileo Affair: A Documentary History, edited and translated by Maurice A. Finocchiaro
Although you are correct that Pope Urban VIII (who was a supporter of Galileo prior to being elected Pope) felt insulted by Galileo's Dialogue Concerning the Two Chief World Systems, most historians agree that the insult was unintended.
May I suggest you read the following, as it will most certainly alter your thinking on what went down re: the Galileo affair:
http://creation.com/the-galileo-affair-history-or-heroic-hagiography