[CI] Add clang job and setup concurrency (backport #1407)

[mergify]

• This adds a semi-binary job using clang. I fixed all what clang was complaining about.
• use humble branch of realtime_tools for humble CI

Additionally, I added the concurrency settings which now automatically cancel running workflows if anything is pushed to PRs.
https://docs.github.com/en/actions/writing-workflows/choosing-what-your-workflow-does/control-the-concurrency-of-workflows-and-jobs

---

This is an automatic backport of pull request #1407 done by Mergify.

[mergify]

Cherry-pick of 66d160c has failed:

On branch mergify/bp/humble/pr-1407
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 66d160c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   .github/workflows/humble-abi-compatibility.yml
	modified:   .github/workflows/humble-binary-build.yml
	modified:   .github/workflows/humble-check-docs.yml
	modified:   .github/workflows/humble-coverage-build.yml
	modified:   .github/workflows/humble-debian-build.yml
	modified:   .github/workflows/humble-pre-commit.yml
	modified:   .github/workflows/humble-rhel-semi-binary-build.yml
	modified:   .github/workflows/humble-semi-binary-build.yml
	modified:   .github/workflows/jazzy-abi-compatibility.yml
	modified:   .github/workflows/jazzy-binary-build.yml
	modified:   .github/workflows/jazzy-check-docs.yml
	modified:   .github/workflows/jazzy-coverage-build.yml
	modified:   .github/workflows/jazzy-debian-build.yml
	modified:   .github/workflows/jazzy-pre-commit.yml
	modified:   .github/workflows/jazzy-rhel-semi-binary-build.yml
	modified:   .github/workflows/jazzy-semi-binary-build.yml
	modified:   .github/workflows/rolling-abi-compatibility.yml
	modified:   .github/workflows/rolling-binary-build.yml
	modified:   .github/workflows/rolling-check-docs.yml
	modified:   .github/workflows/rolling-compatibility-humble-binary-build.yml
	modified:   .github/workflows/rolling-compatibility-jazzy-binary-build.yml
	modified:   .github/workflows/rolling-coverage-build.yml
	modified:   .github/workflows/rolling-debian-build.yml
	modified:   .github/workflows/rolling-pre-commit.yml
	modified:   .github/workflows/rolling-rhel-semi-binary-build.yml
	modified:   .github/workflows/rolling-semi-binary-build.yml
	modified:   .github/workflows/rosdoc2.yml
	modified:   admittance_controller/include/admittance_controller/admittance_rule.hpp
	modified:   admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
	modified:   admittance_controller/src/admittance_controller.cpp
	modified:   diff_drive_controller/src/diff_drive_controller.cpp
	modified:   joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
	modified:   joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
	modified:   joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
	modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
	modified:   pid_controller/src/pid_controller.cpp
	modified:   ros2_controllers.humble.repos
	modified:   steering_controllers_library/src/steering_controllers_library.cpp
	modified:   steering_controllers_library/src/steering_odometry.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   forward_command_controller/test/test_load_forward_command_controller.cpp
	both modified:   joint_trajectory_controller/src/trajectory.cpp
	both modified:   tricycle_controller/src/tricycle_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

Attention: Patch coverage is 96.49123% with 2 lines in your changes missing coverage. Please review.

Project coverage is 66.70%. Comparing base (9286898) to head (39c8096).
Report is 2 commits behind head on humble.

Files with missing lines	Patch %	Lines
...ory_controller/src/joint_trajectory_controller.cpp	66.66%	0 Missing and 1 partial ⚠️
...ntroller/test/test_trajectory_controller_utils.hpp	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1418      +/-   ##
==========================================
+ Coverage   66.67%   66.70%   +0.03%     
==========================================
  Files         113      113              
  Lines       13199    13214      +15     
  Branches     8148     8148              
==========================================
+ Hits         8801     8815      +14     
+ Misses       1441     1436       -5     
- Partials     2957     2963       +6     

Flag	Coverage Δ
unittests	66.70% <96.49%> (+0.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
.../include/admittance_controller/admittance_rule.hpp	100.00% <100.00%> (ø)
...ude/admittance_controller/admittance_rule_impl.hpp	92.51% <100.00%> (+0.16%)	⬆️
...dmittance_controller/src/admittance_controller.cpp	74.07% <100.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	73.06% <100.00%> (ø)
gpio_controllers/src/gpio_command_controller.cpp	78.21% <100.00%> (+0.49%)	⬆️
..._broadcaster/test/test_joint_state_broadcaster.cpp	49.43% <100.00%> (ø)
...include/joint_trajectory_controller/tolerances.hpp	80.86% <100.00%> (ø)
...include/joint_trajectory_controller/trajectory.hpp	76.47% <100.00%> (ø)
joint_trajectory_controller/src/trajectory.cpp	90.40% <100.00%> (ø)
pid_controller/src/pid_controller.cpp	67.56% <100.00%> (ø)
... and 5 more

... and 1 file with indirect coverage changes