[CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) #566

	name: Humble Semi-Binary Build
	# author: Denis Štogl <[email protected]>
	# description: 'Build & test all ros2_control dependencies from source.'

	on:
	workflow_dispatch:
	pull_request:
	branches:
	- humble
	paths:
	- '**.hpp'
	- '**.h'
	- '**.cpp'
	- '**.py'
	- '.github/workflows/humble-semi-binary-build.yml'
	- '**/package.xml'
	- '**/CMakeLists.txt'
	- 'ros2_control.humble.repos'
	push:
	branches:
	- humble
	paths:
	- '**.hpp'
	- '**.h'
	- '**.cpp'
	- '**.py'
	- '.github/workflows/humble-semi-binary-build.yml'
	- '**/package.xml'
	- '**/CMakeLists.txt'
	- 'ros2_control.humble.repos'
	schedule:
	# Run every morning to detect flakiness and broken dependencies
	- cron: '03 1 * * *'

	concurrency:
	# cancel previous runs of the same workflow, except for pushes on humble branch
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}

	jobs:
	semi-binary:
	uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
	strategy:
	fail-fast: false
	matrix:
	ROS_DISTRO: [humble]
	ROS_REPO: [testing]
	with:
	ros_distro: ${{ matrix.ROS_DISTRO }}
	ros_repo: ${{ matrix.ROS_REPO }}
	upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
	ref_for_scheduled_build: humble
	semi-binary-clang:
	uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
	with:
	ros_distro: humble
	ros_repo: testing
	upstream_workspace: ros2_control.humble.repos
	ref_for_scheduled_build: humble
	additional_debs: clang
	c_compiler: clang
	cxx_compiler: clang++
	not_test_build: true

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