Restore clang, use testing branch for action-ros

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

.github/workflows/reusable_build.yaml

@@ -41,10 +41,17 @@ jobs:
       # image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
       image: ros:${{ matrix.ros_distribution }}
     steps:
+      - name: create_blacklist
+        run: |
+          mkdir -p ${{ github.workspace }}/
+          touch ${{ github.workspace }}/blacklist.txt
+          if [[ ${{ inputs.mixin }} == "asan" ]]; then
+            echo "fun:*Eigen*" >  ${{ github.workspace }}/blacklist.txt
+          fi
       - name: Setup ROS
-        uses: ros-tooling/setup-ros@v0.7
+        uses: ros-tooling/setup-ros@christophebedard/noble-install-libclang-rt-dev
       - name: install_tools
-        run: sudo apt update && sudo apt install -y ccache lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
+        run: sudo apt update && sudo apt install -y ccache clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
       - name: set mixins
         id: set_mixins
         run: |
@@ -67,6 +74,8 @@ jobs:
         uses: ros-tooling/action-ros-ci@v0.3
         env:
           LANG: en_US.UTF-8
+          CC: clang -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
+          CXX: clang++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
           QT_QPA_PLATFORM: offscreen
           # We have some new_delete_type_mismatch errors that looks like to come from rclcpp
           ASAN_OPTIONS: detect_leaks=0:new_delete_type_mismatch=0